2018:End Game Mechanism
End Game Subteam
Leads: Mark M, Tai L, Rachel B
Day 1:
Brainstormed concepts of how to climb
Use climbing mechanism that will be able to share bar with another robot
Use climbing mechanism that will take up entire bar but will take another robot up with ours
Create our own ramp that will lift up both robots above 11"
Day 2:
Began to lean towards making our own ramp for other robots to climb onto
Designed several different concepts for a ramp
Tested measurements and variables for the ramp (Angle, drivebases of other robots, material,etc.)
Day 3:
Started building carboard prototypes
Started putting concepts on CAD
Realized that Null Zone will interefere with the ramp design
Began to think of how we would actuate certain designs
Modified Push Up:
Ramp technique with pneumatic cylinders used to change ramp geometry to a flat platform.
190 Gomepi and The Heard WORLD CHAMPIONS 2007
Video: https://www.youtube.com/watch?time_continue=128&v=Dd8p13fdYiIWatch at 2:00 Mark
https://lh6.googleusercontent.com/4_Snt8wgzx3yW2jRLid-NUnmw2d1UvyOJy2uF3HFpzFnGp-jO7AKBVZQ7Oo_EPSAd--zjAkMC88sxrJlZaREEPJsYIl2NDLgbgbemo8S72yUE9xNvMfrBgInuiPKUXrxTGNzc0nhhttps://lh4.googleusercontent.com/eJ-f2D2Sb2TYhxDx6flIJA6Dopry6-H-_V4oDxNPSG3YjdYK0ubY93T734d8lqTTZWZ9wKVVshpwT4vPrh5lp6ZA-6QwNWnR7-4AN8q-Bwmr0bLnTNt2kS-LkEkFH7jNiw3D7Lkr
Discussion Notes:
Potentially much safer than climbing
But risk that a robot may not be able to climb us
Other robot may be able to push them up.
Angle tests: 13 15 20 25
Tests were worst case scenarios with 4 inch omni wheels and bumpers with 1.5 inch clearance.
Today Goals:
Get everything on the Wiki
Prototype and cad butterfly
Formula for pneumatic car jack technique
Continued evaluation of the game by strategy revealed that it is possible for an opponent to defend one of our partners from getting on our ramp. If the opponent is touching their null zone they would completely block access to that side of our ramp. Because of this Strategy has given us the following criteria. Ramps must be accessed by robots from the platform zone.
Bumper rules:
We realized that prototypes that drop below our drivetrain violate the bumper rules. The bumper rule states
R24. BUMPERS must be located entirely within the BUMPER ZONE, which is the volume contained between the floor and a virtual horizontal plane 7 in. (~17 cm) above the floor in reference to the ROBOT standing normally on a flat floor. BUMPERS do not have to be parallel to the floor. This measurement is intended to be made as if the ROBOT is resting on a flat floor (without changing the ROBOT configuration), not relative to the height of the ROBOT from the FIELD carpet. Examples include: Example 2: A ROBOT deploys a MECHANISM which lifts the BUMPERS outside the BUMPER ZONE (when virtually transposed onto a flat floor). This violates R24
Prototypes:
