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Hardware
Today was mostly a work day. More advancements were made on the end effector. We tested it's shooting capability. The disc that was printed by Aaron proved to be unable to handle the shock of the launcher piston when it reached the end of it's motion. Part of the plastic broke off in a launch test and when flying along with the ball. Meanwhile, the battery holder was moved back an inch, and a polycarbonate plate was placed over it to prevent the battery from bouncing upward when traversing obstacles. Finally, the second hook was made, and progress is being made toward constructing the attachment mechanism.
- Decisions:
- A stronger and revised puncher disc design is needed.
- Concerns:
- A printed launcher disc might not be strong enough to withstand the impact, regardless of design.
- The new end effector seems a little heavy.
- The pickup wheels, being high friction, might hinder the launching accuracy of the robot.
- Changes:
- Battery holder was moved back into the robot by an inch.
- Battery holder now has a clear polycarbonate cover on top.
- Wide end-effector was assembled.
- Next Steps:
- We need to become pirates. (AKA complete the hooks.)
- Update provided by: Foxy
Today we worked on getting all the pneumatics hooked up. The brackets for the ballasts were installed, the tubing laid out, and the solenoids hooked up. We pressurized the system, put a hook at the end of the climber piston, and tested the climb. The robot climbed the wall successfully, and the arm motor was able to level the robot while it was hanging, like we had expected.
- Decisions:
- The ballast tanks might just use the pre-drilled holes on the chassis. The tanks do stick up two inches, but it doesn't look like that it actually matters much.
- Concerns:
- Ballast tank mounting brackets were designed to be completely contained in the chassis. It is unknown whether they will withstand wear and tear partially outside the chassis.
- Changes:
- Short standoffs were moved from the top of the plates to the middle, inside the belt.
- Pressure sensor was installed.
- All 6 pneumatic ballast tanks were installed.
- Solenoids were mounted and tubing was connected. Most of the major leaks were fixed on the spot.
- Next Steps:
- Finish the second hook and create the mounting mechanism.
- Update provided by: Foxy
Somewhat of a catch-up post. Here is almost everything that has happened that I can recall.
- Decisions:
- Hooks and bar are likely going to be one piece. They also may need to be deployed in some way.
- Hooks will go over the bar and latch behind the robot.
- End effector will be hinged, with a spring to hold it against the floor and something underneath it to let it glide smoothly over the floor.
- Lowest point of the arm will be parallel to the floor.
- Concerns:
- Interference between hooks and pickup/shooter.
- There is no mechanism from keeping the hooks from rotating out of position. This will likely not be fixed.
- Changes:
- Piston was flipped upside down to move it out of the way. Mounting bracket was reconfigured to accommodate this.
- Hard stop was moved farther back to make room for the shooter piston.
- In Progress:
- Bumpers are still being modified to attach to the robot.
- Hook designs are being developed and tested.
- Next Steps:
- Find a way to attach the hooks so that they can deploy outward when the piston extends.
- Finalize and secure the pickup mechanism on the arm with the above plans.
- Create the puncher piece and attach it to the end of the shooter piston.
- Test the robot's lifting capabilities as soon as possible.
- Update provided by: Fox
Worked on getting wheels on. Improved the design the tension on the wheel threads. Completed the prototype of the ball shooter. Brainstormed improvements on the ball shooter.
- Decisions:
- Concerns: Everything is taking longer than planned. Concerned about having enough time.
- Changes:
- Next Steps:
- Update provided by:Jason, Mr. Seabury
Polycarbonate on intake was added. Worked on rollers and converted small motor to big motor for intake.
- Decisions:
- Concerns:
- Changes:
- Next Steps:
- Update provided by:
Shortened the standoff that holds the the chasis by 1/2" and added a standoff at the back of the robot. Bumper construction has started, but ran out of pool noodle material. The wheels for the tread have been sent off to be modified.
- Decisions: None.
- Concerns: Behind schedule, but catching up.
- Changes: Standoffs modified, bumpers started. Essential stayed on the plan for today.
- Next Steps: The Arm mounting NEEDS to be finished. More Pool Noodle material needs to be aquired to finish bumpers.
- Update provided by: Mr Rice (RoboticRice) & Mike (GravityFox)
Working on assembling the robot with the appropriate dimensions within the constraint of the rules. Configuring the electronics/pneumatic board.
- Decisions: All the components that don't need to move with be located on the electronic/pneumatic board.
- Concerns: The dimensions are tight.
- Changes: Continuing to readjust the robot to optimize the design and meet the size constraints.
- Next Steps: Complete piston design and continue finishing chassis.
- Update provided by: mkobrin
Piston shooter tested and optimized.
- Decisions: Piston elongated. Shorter tubes between the piston and solenoid.
- Concerns: May want to include a small ballast downstream from the solenoid on the retract valve.
- Changes:
- Next Steps: Complete piston design and continue finishing chassis.
- Update provided by: vickyjjj
Two sides of chassis partially assembled.
- Decisions:
- Concerns:
- Changes: Three transmissions partially assembled from VEX Pro kits - one missing pneumatic piston shifter, 8 spacers cut and tapped. 4 metal pieces of chassis put together with spacers and transmissions.
- Next Steps:
- Update provided by: vickyjjj
Received custom made large piston (3'' diameter), which claims to lift up to 300 lbs, and should be able to handle 160 lbs. Also worked on chassis.
- Decisions:
- Concerns: Expanding pressure is greater than contracting pressure - is this a problem (20% decrease in pressure)? Friction will also affect the pressure - is this large enough to be of a problem (probably not)?
- Changes: Enlarged holes on chassis for bearings.
- Next Steps: Begin chassis work etc. Test large piston.
- Update provided by: vickyjjj
Pneumatic lift for high bar lift tested. Intake was in process of modification to test feasibility of piston shooting for high goal.
- Decisions:
- Concerns: Will the actual pneumatic lift have enough pressure to lift ~160 pounds? Used two long, small (2.5'' diameter) pistons to lift Aaron (140 lbs) and 7 lbs bar; this was barely workable. Worst case scenario is that our robot will be 160 lbs (max).
- Changes: Intake roller changes include loosening springs; bringing back the bar of rollers; attaching a piston on the back; replacing current motors with FRC motors; and adding a back panel.
- Next Steps: Complete intake draft.
- Update provided by: vickyjjj
Developed a design design concept that would use a pneumatic lift on the robot arm allowing the robot to rapidly grab onto the high bar. Pneumatics are fast should allow good control to grab onto the hook. Tested different pistons on different loads with the purpose to determine if they could lift the robot. A 2.5 ID and six inches of motion piston was not able to lift the robot. 2, 2" pistons in parallel worked with but was on point of failure. Note: Retraction has less force than expansion. Determined that will need more force and will order a single, larger piston. Worked on reconfiguring the basket to make more accurate to the design and to determine if the system (basket and robot) will work properly.
- Decisions: One large piston that would go far. (ordered a piston that has 3" ID with 24" of motion)
- Concern: Size of the piston and how it will fit on the robot
- Changes: Considering doing the high throw (will require CAD work)
- Next Steps: Received machine parts and determine if they will work; test fit of transmission; assemble critical components for the arm.
- Update provided by: Jason F.
Identified problems with 1st design: rocker boogie suspension systems - not enough room for the transmission and motors. Came up with a 2nd iterative using tank treads. Still addresses the same user requirements. Bucket to collect ball and score in low goal. Contacted a vendor for components and ordered some of the basic components. Contacted machine shops for some of the parts that we cannot make ourselves.
- Decisions: Go forward with the 2nd iteration
- Concerns:
- Changes:
- Next Steps: Quotes from the machine shop.
- Update provided by:cseabury
CAD design on track to have the initial design of the drive train ready by 1/16.
- Decisions: Low Robot, Push the ball into the castle (not shoot), Use a rocker/boogy mechanism, will climb high
- Concerns: N/A
- Changes:N/A
- Next Steps:Continue on the CAD Design
- Update provided by:Team during the 1/15/16 stand up meeting