We Have Our Design Requirements Defined

We met yesterday to go through everything we learned this week and to come to a consensus around our design requirements.  It took a while, but we think we have settled upon a design and are readt to start detailed CAD. On top of that we started to prototype a new feature that was added today.  The ability to pick gears up off the ground.

Here is where we ended up.

  • Primary – Climb rope to the top in 10 seconds from touching the rope and stay at top past buzzer
    • Capture – Drum based
    • Capture – Use fingers
    • Capture – Use rotation
    • Capture – Catch fast 1-2 seconds)
    • Capture – Need driver camera for davits 1 and 3 to work with driver station 1 an 3
    • Climb – 5-8 seconds to top
    • Lock – Use ratchet wrench
    • Rope – Narrow rope
    • Rope – Big knot on end (monkeys fist)
    • Rope – Retro-reflective for auto assist
    • Rope – Be stiff and heavy
  • Primary – Pick up gears from the ground and drop them off at the peg with a max of 20 seconds per cycle
    • Intake – Drive by control
    • Intake – Scoop from ground while driving
    • Intake – Combine with passive design so it can pick up from feeder station as well
    • Intake – No drop design
    • Intake – will use 8″ arm to pick up gear
    • Stowage – No bump drop design
    • Deploy – Passive design
    • Deploy – Make space for peg
    • Deploy – Use drive assist camera
    • Deploy – Use auto assist code
    • Deploy – Use air ship pilot to pull gear out of robot
  • Primary – Be able to drive nearly 20ft per second and be highly maneuverable
    • Drive – 18-20 fps
    • Drive – Sideways or alignment for gears
    • Drive – Sideways for alignment with low goal
    • Drive – Octocannum
    • Drive – 4″ wheels
    • Drive – Un-actuated position is solid wheels
    • Chassis – 24″ x 24″ x 24″ or 30″ x 30″ x 24″
    • Bumpers – .5″ off ground
    • Robot – Be as light as possible
    • Root – Be as small as possible
  • Secondary – Pick up balls from the floor
    • Intake – Through bumper
    • Intake – Roller intake
    • Intake – Poly chord / belt elevator
    • Intake – Use 1 motor for intake and elevator
    • Intake – Have flap so that balls can be loaded in via the hopper or feeder station without spillage
  • Secondary – Store 20 balls or more on the robot
    • Stowage – Fixed hopper
    • Stowage – Ramp to low goal
    • Stowage – No agitator
  • Secondary – Deposit 20 balls in the low goal in less that 3 seconds
    • Deploy – Low goal
    • Deploy – Movable rake
  • Tertiary – Shoot 20 balls in the high goal in 5 seconds with 50% accuracy
    • Deploy – Use intake elevator
    • Deploy – Have two high goal positions, airship gear 1 and airship elevator gear 2
    • Deploy – Have a wheeled shooter

Over the next two days our CAD team will work on creating the robot design.  And over the next week the team will refine that design with detail prototypes. So that buy the time the parts arrive in week 3 we have the final dimensions figured out.

A big decision we made today was to use Octocannum.  This is going to be a big challenge for our team since we have not used this drive before.  We know it adds a lot of risk, but we feel the possible advantages combined with the learning we will do make it worth it.

Robot systems we need to build will have 9 motors and 8 cylinders / solenoids.

  • The Octocannum drive will require 4 cims, 4 encoders, pressure switches, 4 pneumatic cylinders, 4 solenoids.
  • The ball intake and elevator will require 1 motor for ground, 2 pneumatic cylinder and 2 solenoid for the hopper
  • The low goal scorer will require 1 motor with an encoder
  • The gear intake will require 2 pneumatic cylinders and 2 solenoids for moving the arm with 1 or 2 motors with encoders and IR range finders on the arm.
  • The climber will require 1 motor and 2 IR range finders

 

Here are some images from today.

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