2016:Breacher
Current CAD:
Motors & Gearbox
Arm Joint:
- Mini-CIM motor
- 40A breakered
- Wired such that positive voltage brings arm in towards robot
- http://www.vexrobotics.com/25-sprockets.html
- 217-2642
- 16 tooth on motor shaft driving a 22 tooth on arm
- http://www.vexrobotics.com/versaplanetary.html
Roller Bar:
- http://www.banebots.com/product/M7-RS775-18.html
- Intake motor RS-775-18V
- 30A breakered
- two 16 tooth sprockets for motor shaft and on beater bar shaft
- Banebots 5:1 transmission
Motor Calculations:
Arm Joint:
Roller Intake:
Sensors:
Q106E Banner Sensor Emitter & Q10RN6R Banner Sensor Receiver, to check if ball is in intake and stop Beater Bar to prevent ball damage
Potentiomenter, 1K Resistance, to sense where the Breacher is on its axel
2 Limit switches to determin dead stops for the breacher arms
General Summary:
The Breacher is a bucket with intake that can intake a maximum of one ball and minipulate multiple outerworks in order to breach.
Cad Summary:
Update 3:
1/31/2016
Four more pieces to be drawn and sent out, Hard stop made for pivot motor mounting figured out
just need to wait for other teams to finish, and for Harris parts
Update 2:
99% done with preliminary CAD assembly
Update 1:
75% done on first phase most of the bucket is done but still waiting on mounting from drivebase. (CAD)
Still needs to be assembled into one project.
