Embedded Files
Robot Specifications
Robot Specifications
- 6 Wheel Drive (4 CIM motors)
- Pneumatic gear delivery system
- Rope Climber (CIM with 50:1 gear reduction)
- RoboRio hardware wired through CAN
- 4 gear total in manually operated, and single gear autonomous
The Design
The Design
Prototypes
Prototypes
After balancing our designs, the team decided it would be beneficial to sacrifice the ability to shoot the "fuel" into the high boilers in order to obtain a rapid gear loader and delivery system. The human player was able to accelerate the gear down the robot' ramp and thus the gear was nested into the U-channel. The loading and delivery system proved to be extremely effective in competition, allowing team 3062 to climb the leader board in the early matches.
Placement
Placement
The design phase of the season consumed the initial week, with little errors to account for. The electronics board was placed in the rear of the robot, as bumping and collisions at high speeds were a definite possibility. During the season, the team encountered minor issues with radio communication due to the low positioning of the radio, but it was amended due to a second electronics tier.
Fundamental Electronics
Fundamental Electronics
The electronics board was constructed out of black plexiglass to reduce weight and lower the center of gravity of the robot. The plexiglass design allowed for easy wire management and did not interfere with the radio communications. A second identical electronics board was fabricated for the team's second robot, which was utilized for code debugging and deployment.
Testing
Testing
IMG_5737.movCameras and Senors
Cameras and Senors
On our fifth week of the build season, the team was able to do some testing before the rope climber was mounted to the robot. The team verified the robot's ability to perform in tight corners and achieve it's task of delivering the gear in a time efficient manner. The programing and electronics teams were able to verify the encoders and cameras were functioning properly.
Gear Delivery
Gear Delivery
Pictured on the left is the gear delivery system, a simple U-shaped gear holder that is actuated with a 6 inch pneumatic cylinder. Since the distance to cover was approximately 12 inches, the pneumatic cylinder was mounted to a linear slide to allow an additional horizontal movement.
IMG_5709Trim.mp4Bonus Challenges
Bonus Challenges
IMG_5864TrimTrim.mp4Thursday morning of the practice rounds, a rope climber was added onto the robot, and was put into testing all of Thursday and utilized Friday. The rope climber was powered by a CIM motor with a 50:1 gear ratio, and gripped the loop in the rope, thus intertwining the rope around the cylindrical standoffs.
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