2011:1/27/2011

Drivetrain

Painted the frame, cut the axles, putting chain on the last four wheels.  Should have a working drivetrain tonight!

Arm/Manipulator Minibot deployment mechanism is located in CAD, so arm can be positioned around it. Working on building the support structure for the arm. The location for the "tusks" (for centering on the tower) is still being worked on.  May need to tie the two wheel motors together for structural stability, when assembling the upper framework.

Minibot/Deployer

Minibot is in CAD, so now we know what parts must be manufactured. Start/stop/reverse switches will be located tonight. A pivot with surgical tubing will snap the two wheels onto the tower when the minibot is shoved against the tower. Will build the basic design and see what the speed is, then alter it if necessary (gearing etc.).  Will have the two wheels, plus a switch, that all hit the plate at the top of the tower in a "tripod" formation.  Probably will add a fuse to keep motors from burning out.  What happens if the motor reverses after the minibot hits the top, and then it drives all the way to the bottom - what turns it off at the bottom?  There will be a latch that lets the drive team push the minibot back into "cocked" position and the latch will then hold it.

Deployer will slide 23" or 24", with 12" in front of the robot when it slides out.  Pneumatic tube will keep the slide from just flying out and hurling the minibot.

Need to do force calculations for the "tusks" to make sure they're strong enough and don't get bent a lot.  Also need to make sure the arm doesn't stick out when the tusks are out and violate the 84" rule.

Electrical Main

Think about adding another encoder at the top of the arm so that "chain slop" doesn't give bad sensor readings - must hash this out with Programming.