2025:Mechanical

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Daily Log 1/7/2025

S004/A004 - Dual wedge gripper prototype

The dual wedge cage grip prototype was assembled out of wood and quickly tested on the mockup cage, it was not assembled great and will need to be refined and maybe 3d printed based off the CAD. Other ideas for gripping the cage were also tossed around such as using electromagnets for hanging from the cage.

For algae, we CADed and prototyped an intake and outtake system. We made a couple of different designs, but our main efforts were put towards an over the bumper intake. We tested ones with wheels on the tope and bottom as well as just on the top and found that wheels just on the top worked the best. we also found that having around 12in of distance between the wheels and the bumpers. We also prototyped a mechanism that does both algae and coral (AKA the calgae). It is a claw that on the outer part is wider for the algae, and doubles as a funnel to the inside for the coral. 


1/8/2025

Tested a coral specific intake that utilized only 1 wheel that makes contact with the coral from "above". Refined the design in CAD and laser cutter the new prototype out. Found that this style intake can suck in coral at multiple angles, the coral with naturally  straighten out in this apparatus.


'1/8/2025'

 Made another prototype that is similar to the coral prototype from yesterday except there are 2 sets of green compression wheels on either side of the coral. The hope was to have one set of wheels going faster than the other which would rotate the coral as it was outtaking/shooting so it would be in the horizontal position to score in L1 without the risk of it falling vertically in L1 and bouncing out.

That prototype is a little shaky and may need more exploration and refinement

The other original coral intake was reviewed and a new design was CADed and lasered out. Need to assemble the prototype on Saturday.

-meow 1/11/2025   Today we assembled and completed all of our coral/algae prototypes, and modified CAD designs. We also tested our prototypes with the actual coral station, including different angles and distances from the station. Our goal for tomorrow is to combine all prototypes into a single unified prototype. We are planning on moving forward with a hybrid coral/algae grabber, but we want to work on reducing the weight and complexity of the

design.

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1/11-1/12   -   CAGE SUBTEAM:

  • Worked on making a prototype that was similar to Penn State's robot in 3 Days. 
  • Prototype has 2 lifting levers instead of just one.
  • Attempted to use window motors to drive the levers, not enough torque or leverage to lift the frame off the ground. 
  • Removed the motors and transformed it into a manually operated mechanism (out of wood.)
  • Successfully tested the design
    Motor and Power calculations for Cage lift
  • Added guides for the cage to bring it to the correct position to hang.
  • Made the guides so that there's a way for the cage to rotate a bit, but not enough to go into the incorrect orientation.

To Do:


  • Prototype Bicep hang
  • Start CAD designs of the lever hang
  • Start calculations for motors and transmissions

Image-20250112-202548-bbf7d57b (1).jpeg

11/12/2024 - Game Piece

We worked more on our hybrid coral/algae mechanism, redesigning so that it used less wheels than previously so the coral has less chance of taking a weird bounce while intaking the coral, and once we lasered and assembled the base of this new design, we worked on trying to belt our design. However, we were not able to find belt sizes that worked with our setup, so we will either need to find a way to use slightly larger belts and tension them, or redesign so we can use the belts that we have. 

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