2018:Cube Mechanism

Cube Subteam

Current Intake

• Prototype:
  • Side roller intake with 6 wheels per side, contacting the cube on the bottom, middle and top parts.
  • Rollers are on arms that can pivot outwards and are tensioned with surgical tubing attached to the frame.
  • Rollers are belted to motors mounted on the arms.
  • Arms are on hinges to help test lifting the cube once we have control of it.
  • 10.5" long arms.
  • Intake must grab the cube in a way that when it flips over to the other side the cube is in the right position for the exchange.

Current Cube Transport

• Rotating arm 21"x?" gear ration of about 300-1
• Conveyer Belt
• Elevator 

Meeting Notes

1/7 - Sunday:

• Intake:
  • Started work on roller intake prototype

1/9 - Tuesday

• Intake:
  • Put grooves in 4" compliance wheels to increase friction 
  • Arm tensioning moved to points on frame so they move independently

1/10 - Wednesday

• Intake:
  • Belted motors to frame, now driving the rollers with drills will not affect the movement of arms
  • Arm pivot point moved so they are 10.5" long, which makes sure we do not pick up multiple cubes at once.

1/11 - Thursday

• Intake
  • 6 wheels on each roller. Now that wheels are contacting almost everywhere on the cube, the intake is more consistent and cube doesn't tilt as much on entry.
  • Taped a lexan sheet to carpet to simulate something on the bottom of the intake.  This alleviated some of the friction from the carpet once the cube entered the intake
  • Almost finished mounting motors to arms so we don't have to drive it with drills.
  • Arms are mounted to a C-channel on a hinge so we can start to look at what happens after intaking the cube (like lifting it up).
  • Likely going to switch to 2" compliance wheels due to geometry inside the robot with the ramp.