2019:Robot Design Details
Overall design decisions, notes, specifications, and integration items here! Integration Task List (NEEDS LINK HERE)
Overall Robot Dimensional Restraints
Last updated: NEVER
Actuators
THE FOLLOWING TABLES ARE COPIES OF 2018's TABLES AND HAVE BEEN LEFT FOR ILLUSTRATION ONLY - DO NOT USE FOR 2019! Please delete the above note and replace content of the tables below with 2019-relevant information once available.
Motors (2018 COPY REMOVE THIS NOTE WHEN UPDATED FOR 2019!)
| Mechanism | Action | Minimum Breaker Size | Motor Model # | Quantity | Notes |
| Intake | Grabs the cube and puts it in the hand | 30A | 775 Pro | 2 - one left, one right | 15"1 gear ratio - 5:1 and 3:1 in versa planetary gearbox |
| Arm | Pivots arm to robot/front back | 30A | 775 pro | 1 | 50:1 gear ratio: 5:1, 5:1 in versa planetary, 18T timing pulley on motor, 36T timing pulley on axle. If belt fails, wil chane to 15T sprocket on motor, 32T sprocket on axle. |
| Hand | holds the cube as it moves around the robot and deploys the cube | 30A | 775 pro | 1 | Starting ration will be16:1 - (2) 4:1 in the versa panetary gearbox. |
| Lift/Ramp |
Lifts the ramp/platform with another team's robots on top |
30A | 775 pro | 4, 2 per lift | 2 Lift systems (jacks) per ramp, 1 motor on each |
| Drive Base | Moves the robot | 40A | CIM | 6 (dropped to 4) | Gear ratio 14:64 |
Pneumatics (2018 COPY REMOVE THIS NOTE WHEN UPDATED FOR 2019!)
| Mechanism | Action - Say what extend and retract do! | Cylinder | Extend Powered? | Extend Exhaust to Atmosphere? | Retract Powered? | Retract Exhaust to Atmosphere? | Working Pressure | Estimated Firings per Match (Sum of all powered directions!) |
Notes |
| Intake | Extend = raise intake into robot Retract = lower intake to retrieve cubes |
Bimba M-044-DP. Magnetic 3/4" bore 4" stroke, pivot mount | Yes | Yes | Yes | Yes | 60 PSI | 40 |
Assumes a defensive game (retract to prevent damage) RB1 on order RB2 on shelf |
| Arm Brake |
Extend (spring loaded extension) = disengage brake Retract = Engage brake |
Bimba 041-D. 3/4" bore 1" stroke | No | Yes | Yes | Yes | 60 PSI |
40 (Review comment: Would expect this to be greater than # of intake firings even under severe defense due to uncertainty of how to use cube and putting in "up" position for any substantial movement) |
2 cubes auto, 8 cubes vault, 8-10 cubes switch @ 2 x per cube Rb1 & RB2 on shelf |
| Hand on Arm | Retract = "close" hand, tighten on cube Extend = "open" hand, loosen grip on cube |
Bimba 042-D. 3/4" bore 2" stroke | No | Yes | Yes | Yes | ?? PSI - 60 may be too high |
20 (Review comment: Thought the plan was this does not fire at all and acts as an "air spring"?)
|
2 cubes auto, 8 cubes vault, 8-10 cubes switch RB1 & RB2 on shelf |
|
Lifts/Ramps (One cylinder per platform/ramp but they are plumbed together on same solenoid) |
Hold/Release ramp system. Extend = hold ramps up Retract = release ramps to ground level
|
Bimba 061.5-DXDE 7/8" bore, 1.5" stroke Double acting, double ended |
Yes | Yes | Yes | Yes | 60 PSI |
1
|
Starts match under pressure Modifying mounting to use 3/4" bore, 2" stroke double acting on hand. Will cut off 1/4" pf threaded end and grind down remaining threads. RB1 & RB2 on shelf.
Consider we may not need to start match under pressure - all loads lateral. |
Sensor Chart (2018 COPY REMOVE THIS NOTE WHEN UPDATED FOR 2019!)
| Mechanism | Sensor Type | Function | Attachment Point | Notes |
| Intake | Magnetic reed switches (2) on pivot cylinder | Senses when cylinder has completed up and down motion | On cylinder | |
| Arm | Potentiometer | Absolute rotation position of arm. | On actual pivot/shaft. | |
| Arm | Limit Switch | Tripped at end of travel/at hard stop on front of robot | Left side A-frame top front | |
| Arm | Limit Switch | Tripped at end of travel/at hard stop on back of robot | Left side A-frame top back | |
| Hand on Arm | Retro-reflective beam sensor | Sense cube all the way into hand | Mounting is important! Must look "sideways" at the cube where it hits the backstop. | |
| Ramp | Integrated Versa Planetary Encoder | Sense travel and speed of lead screw on lift jacks One phase |
4 total, 1 on each jack - Sensor should be at output stage of each gearbox | |
| Ramp | To be Determined | Sense when ramp jacks are fully reset (not used during match) | 4 total, 1 on each jack - ADD MOUNTING DETAILS ONCE SENSOR IS KNOWN | |
| Drive | Shaft encoders | Travel of robot drive base. One phase | On center (traction) wheel shaft. | |
| Whole robot | Gyro | Sense rotation | Must be center of rotation of robot away from excessive vibration sources | |
| Whole robot | Camera |
Visual feedback for lining up with exchange? MS LifeCam HD USB camera |
On the back left corner of the robot in the area set aside in cad |
