Hagerty Robotics Tesla Training Day

4227- Two Arms Built in 2013-2014 1 Arm to hang from Hanging used a winch system 1 Arm to pick up blocks Servo block grabber

4227- Two Arms Built in 2013-2014 1 Arm to hang from Hanging used a winch system 1 Arm to pick up blocks Servo block grabber

4227- Two Arms Built in 2013-2014 1 Arm to hang from Hanging used a winch system 1 Arm to pick up blocks Servo block grabber

4717- Block Collector Conveyor Built in 2013-2014 Able to lower to the ground, Suck up blocks, Rise to the height of the goals, And spit the blocks back out Ended up being very awkward Way too cumbersome

4717- Block Collector Conveyor Built in 2013-2014 Able to lower to the ground, Suck up blocks, Rise to the height of the goals, And spit the blocks back out Ended up being very awkward Way too cumbersome

4717- Custom Vertical Linear Slides Built in 2013-2014 Aluminum square tubing riveted to drawer slides Attached Bucket to lift up blocks Also used as a hanging device 1 motor for each side Also used a winch system to hang

4717- Custom Vertical Linear Slides Built in 2013-2014 Aluminum square tubing riveted to drawer slides Attached Bucket to lift up blocks Also used as a hanging device 1 motor for each side Also used a winch system to hang

4227- Noodle Collector Built in the 2014-2015 Cascade Effect season, used with modification in 2015-2016 Res-Q Uses three hollow rotating pipes with rubber tubing weaved through. The pipes rotate on axles connected to each other via a chain and sprocket system so they can all be turned by one motor. The noodles push debris up against a back wall, with each rotating axle taking over as the debris progress upwards

4227-Noodle Collector-Improvements We used the noodle collector mechanism again in the 2015-2016 Res-Q season and made improvements We made a curved ramp out of laser-cut acrylic curves that were connected and placed under the noodles to allow balls to travel up easier We made the noodles curved into semi circles so they grabbed easier We used stiffer tubing, and put wires into the noodles to allow it to collect blocks The collector can be used to collect the balls in this years game

4227-Vertical Conveyor Used vertical linear slides Rubber tubing stretched between two 3D- printed pulleys Goal was to carry balls straight from the floor up to the center goal

4227-Vertical Conveyor Used vertical linear slides Rubber tubing stretched between two 3D- printed pulleys Goal was to carry balls straight from the floor up to the center goal

4227- Linear Slides-Vertical Used vertically in 2014-2015 and diagonally in 2015-2016 The vertical design used a pulley system with strings attached to two separate motors. Motors pull on the string which is strung in a system of pulleys until a fixed point, and the slides then lift one by one as the string is pulled in by the motors. The slides are connected via tetrix tracks which allow them to slide past each other.

4227-Linear Slide-Diagonal In 2015-2016 Res-Q we used a similar system, except this time the debris traveled diagonally These slides used the same principle of pulling a string through a system of pulleys, but with several improvements. We used a fishing wire instead of string to decrease friction, used smaller pulleys, and used drawer slides with ball bearing tracks. Could be easily modified and used to lift the cap ball.

4227- Scissor Lift Built in 2014-2015 year to deposit balls Our original linear slides relied on a conveyor system that didn’t work, so we switched to this. The scissor lift works by a motor attached to a rack and pinion system that moves the lowest bar inwards to push it up vertically. The bars are all attached so as one goes up, the next one does too. The scissor lift could be modified to lift the cap ball.

4717 Windmill Built for Cascade Effect A circular track of standoffs which balls travel A motor turns an arm that swoops down and pushes the ball up the curved track and into a hole at the top. Cons: slow, usually one ball at a time, ball must fit into certain spot

4717 Ball Wall Built for 2014-15 Cascade Effect Drawer liner wrapped around two rods Adjustable front plate to fit the size of the ball and add pressure Funneled inwards Works by a motor turning the rods continuously and a motor and joint to change the position of the wall

4717 Tent Poles and Trolley Three carbon fiber poles with aluminum inserts Folds across the robot in an x shape and held down by two servos Tensioned string within the poles connected to a motor which when pulled in, causes the poles to come come together like tent poles A light wooden trolley with spool like wheels keeping it on the pole Connected to strings and looped around a notch at the top of the poles String is wrapped around a spool and causes trolley to go up to reach the higher tube goals

4717 Block Sweeper A curved path of standoffs for the blocks to travel on Vex sprockets, chain, and flaps Motor turns sprocket and chain and blocks are pushed by the flaps up the path to top basket Blocks rotate within it, causing corners of the blocks to fit in the gaps between the standoffs Pros: compact, only 1 motor, lightweight Cons: one to two blocks at a time, blocks must go into certain slot