Redshift Project Depot
FRC 2018 (Power Up) => Robot Hardware => Topic started by: Shreya C on January 23, 2018, 10:24:18 PM
Chassis:
- Need to design a jig for perfect wheel alignment
- List of actuators:
- List of sensors:
- One encoder on PG27 of one swerve unit
Intake:
- Frame pivots up & down
- Intake should only be down when intaking a cube; otherwise, should be in the upright position for protection
- Spring-loaded mechanism brings the arms in
- In "released" position, arms will extend straight out at 90°
- Wheels on arms to bring cubes in — will need to experiment w/ the sizes + speeds for the wheels
- Overall process of intaking a cube:
- Intake goes down
- Wheels on arms squeeze the cube in
- Arm drops down to pick up the cube
- Intake raises to upright position
- List of actuators:
- Bosch seat motor w/ pulse generator controls pivoting of the intake frame
- 2 motors for wheels on intake arms; fixed rotation at 1000rpm
- List of sensors:
- Limit switches for upright & downright pivot position; for downright position, the intake will also hit the chassis frame
- Limit switches to detect the corners of a cube (at corners of intake frame, where intake arms meet the chassis frame and intake frame)
Arm:- Supported by two towers mounted to the back of the robot
- Arm bends down and retrieves cube from the intake, with the intake in its upright position
- Arm has extending unit controlled by a 17 inch lead screw (that extends a total of 12 inches) and motor, as well as 18 inch door sliders for even more extension
- List of actuators:
- Mini CIM controlling bending of the arm
- PG27 controlling turning of the lead screw
- List of sensors:
- Encoder on PG27 to measure how far the arm has extended
- Limit switches on each end of the arm's extension
- Encoder on mini CIM driving controlling of the bending of the arm - use the angle from the vertical to calculate the height of the arm at any given time — we're probably going to do this w/ a lever attached to the arm w/ a potentiometer
- Limit switch on each end of the arm's pivoting motion
- Considering setting fixed encoder values for specific heights (refer to this post (http://www.team4048.org/smf/index.php?topic=255.msg827#msg827))
Gripper/Claw:
- Sliding unit that adjusts to the appropriate width to grip the cube
- L-shaped pieces with padding that grip the cube
- Pivots up and down
- Must be able to handle both heights of the cube (11 in/13 in)
- Claw must be kept level when accessing the cube
- When carrying cube, claw must be at 90°
- List of actuators:
- Snowblower motor to control sliding mechanism to open & close claw
- Motor to control pivoting
- List of sensors:
- Limit switches for pivoting motion of claw
- Pressure sensor on L-shaped pieces? would look really cool for the judges. Can also measure the motor current & determine pressure using that.
- Limit switches on each end of sliding motion
- Accelerometer/encoder for keeping claw level
Climber:
- Winch like last year's
- Nylon strap that goes through back of tower + down the arm
- Hook on end of nylon strap that attaches to extending mechanism of arm—positioned at right height so that when this mechanism releases, the hook can latch onto the rung
- Arm drops, intake lowers—robot starts lifting off the ground
- Strong wrench for ratchet
- List of actuators:
- Mini CIM w/ gearbox (64:1 reduction)
- May not need any sensors!