2009:Robot Design Details

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Main Robot Design

General layout design of the robot, Dimensions ARE NOT exact.

Scoring 1.jpg Empty Cell 1.jpg Collecting 1.jpg

Dimensions 1-19-09.jpgRobot 2 1-25-2009.jpg


  • 4-wheel drive(6 if needed)
  • Four Banebots 12:1 Transmissions
  • Four 2.5" CIM motors
  • Victor 884 [Drive] Speed Controllers
  • Fixed wheels (slip-style steering)
  • Banebots encoders on each wheel (http://banebots.com/pc/ELECTRONICS/EN-G0561-KT) -- mounted at transmission outputs.
  • 27.25” LONG x 37.25” WIDE
  • Rear wheel axis at 5.625 from most rear surfaces (adjustable down to 4.625 corner brace regime permitting)
  • Front wheel axis at 11.625 from front most surfaces (adjustable ± 2.00”)
  • Using 3/8" bolts to mount bumpers to the frame.  See drawing below for bumper mount details.
  • Spacers used will be copper pipe cut to the correct length to space wheels on the axel.
  • 6 hole patterns in the wheels need to be tapped for 10-32 screws 3/4" deep
  • No stiffener element between the wheels seems to be needed.
  • Trailer hitch is assembled from KOP items.
  • Determination of need to mount dummy wheels will occur once the top portion of the robot is assembled.
  • Dummy wheels will be supported using 3/8" bolt, length TBD.
  • Bearings will be inserted in the dummy wheels from the kit of parts.

Current Drivetrain design as of 01/14/2009

Bumper Bracket.JPG

Front Ball Entry/Exit

  • Ball intake/expulsion power provided by "chicken pluckers" on front conveyor - see conveyor.
  • Passage controlled by "door" (TBD - need details)
  • Front opening dimensions (TBD)

Please Update!

  • Powered by same motor, speed controller as ball hopper trap door (see below).
  • Two Limit Switches to tell when door is in open/closed position

Limit Switches Collecting.jpg

Limit Switches Scoring.jpg

Ball Hopper

  • Open top entry for human player introduction
  • Entry from conveyor at top of robot; entry controlled by upper ejector
  • Exit is a "trap door" at the bottom of the hopper down to the area behind the lower ball collector and at the base of the conveyor system.
  • Trap door powered by Nippon Denso Window motor (along with lower collection blocker)
  • Two Limit Switches to tell when door is in open/closed position
  • Jaguar speed controller

Ball Conveyor

  • Two conveyors opposite each other, working together to move balls from ball intake and/or below the ball hopper up to the upper ball ejector/hopper entry point.
  • Front conveyor also acts as collector to bring outside balls in via "chicken pluckers" on lower roller of conveyor
  • Powered by two independent motors (Fischer Price** motors with 25:1 reduction gearboxes) **Changed from RS-545
  • Likely NOT direct drive, will likey be chain/sprocket to save space and move weight back on robot
  • Banner Sensors (photoelectric): Q10RP6R Reciever and Q106E Source Mounted at the top of conveyor to detect ball "ready to fire"
  • 2 Omron photoelectric sensors arranged with a small wheel used to determine conveyor speed.  One disk/sensor per conveyor.
  • Jaguar speed controller

Upper Ball Ejector

  • Spinning ejector directs, based on direction, balls out of robot or in to hopper entry point.
  • Powered by RS-545 Banebots** motor with plastic gearbox removed and 25:1 reduction gearbox added (same Banebots units as on conveyor drives) ** changed from Fischer Price
  • Will be chain/sprocket to save space and move weight back on robot, and to allow optimization of ejector speed without loss of motor power
  • Shaft encoder sensor (E7P-180-375-S-H-G-3) to monitor rotational speed (180 CPR).  Requires 3/8" shaft.  If we can't get E7P in time, we may have to use E4P model which requires 1/4" shaft
  • Jaguar speed controller