2023:Acquisition

Introduction:

Our Subteam, the acquisition team, is part of the larger subteam called Game Piece, in which our team, lift, and robot controls work together to acquire and score both game pieces. Since acquisition is the first mechanism that touches the game piece during an actual match, we decided to get a rough idea of what the acquisition mechanism would look like before beginning the other mechanisms. We ran through the mechanical constraints and robot restriction manuals, and took extensive notes (see below).

Mechanical Constraints

-Although not all of these pertain to acquisition, it was important for every student to understand the limitations of the robot design.

5.8 Game Pieces -

• Cone 1’ and 13/16” (33 cm) tall, 8 and 3/8” ± 1/8” (21 cm) wide, bottom hole is 6 and 5/8” (17 cm) circumference, top hole is 1 ¾” (45 mm) circumference
• - Cube is 9.5” ± ¼” on all sides

5.4 Charging station

• -Charging station: 8ft. ¼ in. (~247 cm) wide, 6ft. 4 1/8 in. (~193 cm) deep structure
• -Main pivoting surface is 8 ft. (~244 cm) wide and 4 ft. (~122 cm) deep. Pivots +/- 15° about the long axis
• -the center of the charging station is 8 ft. 2 5/8 in. (~251 cm) away from the far edge of the GRID’s tape line and centered in the width of the Community

7.1 Robot Restrictions

• - Bumpers need to be low and fully below 7.5” above the ground
• - Bumpers may not fall apart in a way that exposes corners or makes the team number or alliance color undistinguishable
• - Robots can’t intentionally detach or leave parts on the field

• -Start 4’6”
• -Robots can’t be taller than 6’6”
• -Robot maximum frame perimeter is 120 in.
• -Robots can’t extend more than 48” outside of the frame perimeter
• -The robot cannot extend over a curved frame perimeter
• -nothing dedicated to destroying robots or game piece
• --no purpose alliance only in our community zone
• -robots are allowed to grab, grasp, attach to, and deform the game piece (vacuum suction is allowed)
• -robot cannot interfere with field sensors
• -1 game piece can be held at a time

• -Can launch game pieces in community zone

9.2 ROBOT safety and damage prevention

• R201: Do not damage the rugs.
• ITEMS NOT PERMITED:
• Most is common sense but ones that stick out are written below
• -Shields/materials designed or used to obstruct or limit the vision of the drive team and their ability to drive the robot safely
• -Exposed lasers other than class one  
• -No EMP jamming devices or devices that can interfere with remote sensing capabilities and no physical objects that can mess with a robot's sensors ex: retro reflective tape
• - “exposed, untreated hazardous materials (e.g., lead weights) used on the ROBOT. These materials may be permitted if painted, encapsulated, or otherwise sealed to prevent contact. These materials may not be machined in any way at an event.”
• - “High intensity light sources used on the ROBOT (e.g., super bright LED sources marketed as ‘military grade’ or ‘self-defense’) may only be illuminated for a brief time while targeting and may need to be shrouded to prevent any exposure to participants. Complaints about the use of such light sources will be followed by re-inspection and possible disablement of the device”

9.3 Budget Constraints and Fabrication:

• - No individual non-KOP item or software should have a Fair Market Value of over $600, but components bought in bulk can cost over $600, if one item doesn’t cost over $600.    
• - Fabricated parts made before kickoff are not allowed, but some exceptions are bumpers, fabricated items containing one COTS electrical device, and operator console.    
• -During an event the team can only work on their robot or robot elements while the pits are open, unless it is for software development or charging batteries.  
• - Create new designs and software, unless they’re available publicly prior to Kickoff

9.4 Bumper Rules:

• -Bumpers should protect all outside corners of the frame perimeter  
• - Bumpers must extend at least 6 inches from frame (side cannot be shorter than 6 inches)
• - no more than a .25-inch gap between inside of bumper and outside of frame perimeter- if side is shorter than 12 inches, must be fully covered in bumper
• -Bumpers should stay low, contained within the area from the ground with a volume of 7 ½ in
• -Bumpers should not be able to move, and bumpers should be able to be removed from the robot
• -Bumpers indicate alliance color and team number (number MUST be consisting of white Arabic numerals ONLY, at least 4 in. high, at least ½ in. in stroke width, cannot wrap around corners less than 160 degrees)
• -Bumpers cannot weigh more than 15 lbs. (including any fasteners/things that attach bumpers to robot.)
• -Must be backed by ¾ in. thick plywood, OSB, or solid wood, with the allowance of small mounting holes.
• -Hard bumper parts cannot extend more than 1 in. beyond frame perimeter
• -Pool noodles must be used as a cushion material, and must be covered by a “rugged, smooth cloth)

Important Field Dimensions

• -From edge of Grid to edge of Charging Station: 60.69 in.
• -From edge of Charging Station to Barrier: 59.39 in.
• -From edge of Charging Station to Wall: 59.39 in.
• -Charge Station Platform: 4ft x 8ft
• -Charge Station with ramps: 6ft 4 1/8 in x 8ft 1 ¼ in
• -Height of second level platform: 1ft 11 ½ in
• -Height of second level Cone Node: 2ft 10in
• -Height of third level platform: 2ft 11 ½ in
• -Height of third level Cone Node: 3 ft 10 in
• -Horizontal distance to front edge of second level platform: 1ft 2 ¼ in
• -Horizontal distance to second level cone node: 1ft 10 ¾ in
• -Horizontal distance to front edge of third level platform: 2ft 7 5/8 in
• -Horizontal distance to third level cone node: 3 ft 3 ¾ in

Legacy Research!

-We started by defining the constraints to our mechanisms (ex: frame perimeter, field dimensions, weight limit, etc) to help us evaluate what we can and cannot do. Then, we split into groups, and each designed our own robot. We came up with what we each wanted to see, especially in terms of mechanism concepts. Then, we all met and discussed each mechanism and ranked them on highest interest. After that, we evaluated their practicality and then we used that information to help us decide what ideas to focus on. Next, we did legacy research. We looked at 2011 robots, due to the inflatable game piece, 2015 and 2019, because of the general intake/lift mechanisms and similar movements, and we looked at 2018 robots due to the cubes and the lifts. Next, we looked at VEX 2018 (cones) and FTC 2022 (cones). By the end of our research, we were able to identify the dimensions that we would be operating on the drive base with (11.75 x 10 inch cutout)