Hardware Presentation 1/23

[Shreya C]

Chassis:

     
• Need to design a jig for perfect wheel alignment
• List of actuators:
  
               
  • 4 swerve units
• 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)

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!