Presentation on theme: "Offensive/defensive evaluation: Define all functionalities of the game brainstorm early designs, evaluate feasibility, resource requirements Shooting (High."— Presentation transcript:
Offensive/defensive evaluation: Define all functionalities of the game brainstorm early designs, evaluate feasibility, resource requirements Shooting (High Goal vs. Low Goal) & throwing over Truss, Catching, Defending, Integrate strategy with design strategy and preliminary design Assigned roles and broke into IPTS addressing each aspect of the basic design Final 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
High Level Designing, fine tuning o 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 ball o 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
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 Calculations Tanks 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 front o Retriever Cross-structure too weak Pneumatic mount had to be re-adjusted o Drive Train Dimensions o Overweight problem
Final 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