WEEK ONEOffensive/defensive evaluation: Define all functionalities of the gamebrainstorm early designs, evaluate feasibility, resource requirements
• Shooting (High Goal vs. Low Goal) & throwing over Truss,
• Catching,• Defending,
Integrate strategy with designstrategy and preliminary designAssigned roles and broke into IPTS addressing
each aspect of the basic designFinal strategy: driving and shooting in autonomous, teleoperated shooting over the truss, and scoring in the high goal.
Evaluate systems requirements and prototype proposed ideas Catcher:
• Panels • Net: most effective out of proposed
designs, however, space and liability concerns eliminated catching device as a priority
Retriever: • Rotating Angular rods• Grasping Arms/Claws• Wheels: quick, auto-correct ball
placement, fewest potential points of failure
• Belts Drive-Train
• Mechanum Wheels: max agility• transmission placement and motor types• Regular Drive
Shooter: • Winch• Elastic tensioning:powerful, simple• Pneumatic piston
Evaluate performance and feasibility of designs with calculations and prototype testing
• Complexity• Capabilities,• Costs/weakness
Begin AutoCAD of Final robot
WEEK TWO
High Level Designing, fine tuningo Drivetrain: larger than the maximum
perimeter required. Pneumatics calculations and weight management for slots to drive train were made.
o prototyping & calculating, we determined geometry-- pneumatic placement,
angle, and desired height of shooter, retriever, and pneumatics
Wheel type (Small vs. Big) on retriever, Placement of the retriever motor,
avoiding damage to chain and ballo With the wooden prototype we determined
the desired: Elastic System, amount of force
necessary, and amount of tension needed to achieve optimal level of force
Pulley positions, within slots on robot Type of cable for pulley Latching system (Latching tool, latching
mechanics), to hold shooter device in place
WEEK THREE
WEEK FOUR
Drive Train: final autocad design• Design/integrate subsystems within each
other within a confined space• Cross-sectional integrity • Weight management—CAD design with
laser-cut gaps• structures to hold batteries, gearboxes,
pulleys, electronic board• slots for mounting/adjusting pulleys
Pneumatic CalculationsTanks and Compressing Time
• Discuss trade-offs: weight, integrity, reset speed
• Correct measurements for chassis and adjustable retriever assembly consolidated in AutoCAD file
Testing wooden and metal prototype: -tensioner slack issue resolved with
elastic rings - Moved shooter mount to the front.
Pre-integration Software and Mechanical Testing
o Autonomous software for Autonomous mode
o Autonomous coding for cycle resets
o LEDs to indicate positions - Testing Results and Modifications
o Shooter Bending metal frame Shooter slack solved with
elastic ring Bending shooter mount in
the fronto Retriever
Cross-structure too weak Pneumatic mount had to
be re-adjustedo Drive Train
Dimensions o Overweight problem
WEEK FIVE
WEEK SIXFinal design Re-evaluation Weight issues with the sheet-metal CAD pieces Top-heavy component removed,
pneumatic triangles on either side.
Replaced with stronger and lighter hollow triangular welded square tubing
Camera placement chosen to spot autonomous lighting in response to code
• Continued to construct, fine-tune practice robot for use after bag-and-tag
• Practice with practice robot• Final adjustments on competition
robot