2019:Robot Design Details
Overall design decisions, notes, specifications, and integration items here! Integration Task List (NEEDS LINK HERE)
Overall Robot Dimensional Restraints
Last updated: 1/9/2019
| Length | Width | Perimeter | |
|---|---|---|---|
| Robot Boundary | 34.25" | 25" |
118.5 |
Drive Base Materials
| Function | Material |
|---|---|
| Perimeter Rail (Long Side) | 1"x3"x1/8" 6061 Aluminum Angle Stock |
| Inner Rail (Long Side) | 1"x3"x1/8" 6061 Aluminum Channel Stock |
| Perimeter Rail (Short Side) | TBD |
Actuators
THE FOLLOWING TABLES ARE COPIES OF 2018's TABLES AND HAVE BEEN LEFT FOR ILLUSTRATION ONLY - DO NOT USE FOR 2019! Please delete the above note and replace content of the tables below with 2019-relevant information once available.
Motors
| Mechanism | Action | Minimum Breaker Size | Motor Model # | Quantity | Notes |
| Hatch | picks up and deploys the hatch | n/a | see pneumatic actuators | ||
| Cargo | picks up and deploys the cargo | ? tbd | non CIM | 1-2 | need to determine side to side or vertical wheels |
| Elevator | moves the cube and hatch mechanisms up and down | ? tbd | non CIM | 2 |
gear ratio tbd |
| Elevator | rotates the elevator in and out of frame perimeter | n/a | planned to be a piston | ||
| Habitat |
Lifts the robot onto level 2 or 3 |
n/a |
see pneumatic actuators | ||
| Habitat | rotates wheels/skids in front of bumpers | tbd | could be piston | ||
| Drive Base | Moves the robot | 40A | CIM | 4 |
Gear ratio 14:68 option to add two additional motors option to swap out CIMs to Neos |
Pneumatics
| Mechanism | Action - Say what extend and retract do! | Number of Cylinders | Cylinder | Extend Powered? | Extend Exhaust to Atmosphere? | Retract Powered? | Retract Exhaust to Atmosphere? | Working Pressure | Estimated Firings per Match (Sum of all powered directions!) |
Notes |
| Hatch | Extend = raises the hook Retract = lowers the hook |
1 |
Bimba tbd estimated 3/4" bore 1" stroke |
Yes | no | no ?possibly spring loaded | Yes | 40 PSI | 12 (24 if not spring loaded) |
|
| Hatch |
Extend = brings it out past the cargo Retract= brings it back in |
1 |
Bimba tbd estimated 3/4" bore 2-4" stroke |
yes | no | yes | no | 40 psi | 24 | |
| Cargo (side wheels) |
Extend=brings the wheels into the cargo Retract= opens the wheels |
2 |
Bimba tbd estimated 3/4" bore 3" stroke |
yes | yes | yes | yes | 40 psi | 24 * | * total cycles of cargo and hatch combined will not exceed 12 (24 if dual action) |
| Elevator |
extend= places elevator in match position retract= places elevator in starting config. |
1 |
Bimba tbd estimated 1.5" bore 18" stroke |
yes | yes | yes | yes | 60 psi | 2 (depending on if we do defense) | |
| Elevator Brake |
Extend (spring loaded extension) = disengage brake Retract = Engage brake |
1 | Bimba 041-D. 3/4" bore 1" stroke | No | Yes | Yes | Yes | 60 PSI |
18 |
12 cycles plus adjustment factor |
| Habitat skids |
Extend = deploys the skids Retract = brings the skids back in |
2 |
Bimba tbd 3/4" bore 2" stroke |
yes | Yes | no | no | 60 psi |
1 |
|
|
Habitat Lift
|
Extend = lifts the robot Retract = keeps us from being technically supported by level one |
2 |
Bimba tbd 2" bore, 22" stroke |
Yes | Yes | Yes | Yes | 60 PSI |
2 |
|
Sensor Chart
| Mechanism | Sensor Type | Function | Attachment Point | Notes |
| Hatch | proximity sensor | to confirm that we have the hatch in the hook | ||
| Hatch | Camera/vision | knowing that we are aligned with the port | ||
| Cargo | Beam Break | knowing that we have acquired the ball | ||
| Cargo | Camera/vision | knowing that we are aligned with the port | ||
| Elevator | Encoder | a way to do vertical positioning | ||
| Habitat | not being able to drive forwards | knowing that both skids are against the platform | ||
| Drive | encoders | Travel of robot drive base. One phase | On idler shaft | |
| Whole robot | gyro | Sense rotation | Must be center of rotation of robot away from excessive vibration sources | |
| Whole robot | Camera |
Lining up the cargo and the hatch panels, and driving durning sandstorm |
