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 |
| Cargo | picks up and deploys the cargo | 775 Pro | 2 | Starting with gear ratio 12:1 | |
| Elevator | moves the cube and hatch mechanisms up and down | 775 Pro | 2 |
gear ratio 16:1 | |
| Habitat | rotates wheels at rear two pistons | 775 Pro | 2 | gear ratio 49:1 | |
| 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 Cycles (Sum of all powered directions!) |
Notes |
| Hatch | Extend = raises the hook Retract = lowers the hook |
1 |
3/4" Bore, 1" Stroke |
Yes | Yes | Yes | Yes |
50 PSI |
36 |
Trunnion Front Mount |
| Cargo |
Extend=Positions Wheels for Pickup Retract= Moves Wheels Away for Hatch |
2 |
1 1/16" Bore, 7" Stroke |
Yes | Yes | Yes |
Yes |
50 PSI | 6 |
Magnetic Positioning Rear Pivot Mount Worst Case Game Cylinders share a solenoid |
| Elevator |
Extend = Places elevator in starting config. Retract = Places elevator in match position |
1 |
1.5" bore 8" stroke |
Yes | Yes | Yes | Yes | 50 PSI | 2 |
Rear Pivot Mount Cycles assume we do not do defense |
| Elevator Brake |
Extend = Engage brake Retract = Disengage brake |
1 |
1 1/4" Bore, 1/4" Stroke |
Yes | Yes | Yes | Yes | 50 PSI |
34 |
|
|
Habitat Lift - Robot Front
|
Extend = lifts the robot Retract = Moves Rods Out of the Way to Allow Robot on Platform |
2 |
1 1/4" bore, 22" stroke |
Yes | Yes | Yes | Yes | 50 PSI |
2 |
Magnetic Positioning Both of these front cylinders share a solenoid |
| Habitat Lift - Robot Rear |
Extend = lifts the robot Retract = Brings Rods Up Enough To Not Be Supported On Level 1 |
2 |
1 1/4" bore, 22" stroke |
Yes | Yes | Yes | Yes | 50 PSI | 2 |
Magnetic Positioning Both of these rear cylinders share a solenoid |
Pneumatics Analysis Spreadsheet:
https://drive.google.com/open?id=1gFQ3QFwumD_wfPq7BhPWqa_nPq6gl0oK
Sensor Chart
| Mechanism | Sensor Type | Function | Attachment Point | Notes |
| Hatch |
limit switch Honeywell SZL-VL-S-B-N-M |
to confirm that we have the hatch against the backplate |
Side-mount to vertical square tube "back stop" for hatch holder. Switch arm extends out ~ 1.5" into where disc would be held. Should be positioned just high enough to miss center hole on all possible disc approach heights for loading station. |
|
| Hatch/Cargo |
Camera/vision (Still work in progress!) |
knowing that we are aligned with the port | ||
| Cargo |
Beam Break Banner Q106 |
knowing that we have acquired the ball | (Need to discuss current mount location) | |
| Cargo |
Magnetic Reed Switch Bimba MRS-.087-PBL-09 |
Sense that Cargo mechanism's cylinders are extended fully and out of way of using hatch mechanism. One on each cylinder |
Body band mounted on extended end of cylinder body | |
| Elevator |
Encoder VersaPlanetary Integrated Encoder 217-5046 |
a way to do vertical positioning | In the gear box on the motor | |
| Elevator |
Upper Limit - EE-SPY415 |
senses when the face of the inner frame when it reaches the top | Mounted on the upper cross bar of the outer frame | |
| Elevator | Lower Limit - Optek OPB815WZ | senses when the flag on the inner frame passes into the U | Sensor on outer frame and flag located on inner frame | |
| Habitat |
Magnetic Reed Switches Bimba MRS-.087-PBL-?? |
Sense cylinder position for front lifter pair. One sensor each on extend and retracted ends of a front lift cylinder |
Band body mounted on one front cylinder. One at extend end and one at retract end. | |
| Habitat |
Magnetic Reed Switches Bimba MRS-.087-PBL-?? |
Sense cylinder position for rear lifer pair. One sensor each on extend end of a back lift cylinder |
Band body mounted on one front cylinder at extended end. | |
| Habitat |
I2C laser thing x 2 Adafruit VL53L0X |
sensing when the robot goes over level 3/2 so then we know to not drive forwards more, needed for both the front and the back pistons | Need mount | |
| Drive |
encoders 63R256 Grayhill encoder |
Travel of robot drive base. One phase | On idler shaft | |
| Whole robot |
gyro (Please supply part #) |
Sense rotation | Must be center of rotation of robot away from excessive vibration sources | |
| Whole robot |
Camera (Still work in progress!) |
Lining up the cargo and the hatch panels, and driving durning sandstorm |
||
| Pneumatics | Analog Pressure Sensor - REV-11-1107 | To evaluate if we have enough air left at the end of the match to actually complete our end game action | In the pnuematics stuff, on the high side of the regulator |
