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Critical Design Review. WPI / Mass Academy FIRST Team 190: Gompei and the HERD. Friday, February 17, 2006. Presented By: Ken Stafford, Team Advisor Chris Werner, Director of Operations. Outline. 2006 Game Review Design Concept Review Mechanical Controls. The Game. Game Animation.

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Critical Design Review

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Critical Design Review

WPI / Mass Academy

FIRST Team 190: Gompei and the HERD

Friday, February 17, 2006

Presented By:

Ken Stafford, Team Advisor

Chris Werner, Director of Operations


Outline

2006 Game Review

Design Concept Review

Mechanical

Controls


The Game

Game Animation


Design Concept Review

  • Established an ordered list for gameplay:

    • Score balls

    • Collect/Contain Balls

    • Score on platform

    • Defense-specific

    • Push Balls


Final Design

  • Six-wheel drive with two speeds

  • Ability to get balls from the floor and human player

  • Controlled delivery to shooter device

  • Ability to shoot balls into center goal on-the-fly from our side of the field

  • Many offensive and defensive autonomous options


Mechanical – Driveline/Chassis

  • Driven by 4 CIM Motors through a two stage reduction

  • Six 5” rubber caster wheels

    • Provide both traction and shortened wheel base

    • Speeds up to 9 ft/s

  • Ludicrous Speed Drive

    • Four 3” rubber caster wheels

    • Powered from main wheels

    • Pneumatically raised and lowered

    • Provide speeds up to 16 ft/s


Mechanical – Ball Collection

  • Two 2” PVC rollers in front of rigid back panel

    • Powered by mini-bike motor

    • 19” long to provide large contact area

    • Hole pattern to assist in gripping of balls

    • Spins at 3000/1500 rpm

    • Provides 20% “squish” of ball

  • Center deflector

    • Effectively creates two “ball paths”

    • Diverts balls upon entering robot


Mechanical – Ball Sorting/Storage

  • Five by four “revolver”

    • Allows for quick and easy ball sorting and access

    • Effectively stored in “single file”

    • Approximately 25 ball capacity

  • How it works

    • Balls filled into two front openings

    • Balls gravity-feed from opposite end

    • Pneumatic “flapper” allows for

      72-degree indexed rotation to occur


Mechanical – Ball Launching

  • Ball pitcher on turret to allow for 360 degree shooting (1½ total turns)

    • Driven by globe motor to CNCed Lexan sprocket

  • Ability to score from 6 to 21 feet using same release angle

    • Fixed deflector angle allows wide shooting range due to ‘flat’ trajectory


Mechanical – Ball Launching

  • Balls given backspin to “roll up” deflector

  • Contain pitcher mechanism at bottom

  • Pneumatic cylinder to lift ball into pitcher

  • Two 4” rubber wheels in series

    • Driven by two Fisher Price motors

    • First wheel at 4000 RPM;

      second wheel at 7000 RPM

    • Provides 20% “squish”

    • Imparts exit velocity of ~10m/s


Controls

  • Controls challenges:

    • Continuously keep the turret/pitcher aimed at the center goal even while the robot is moving

    • Operate all the other robot mechanisms to ease the human operator workload

    • Multiple autonomous strategies including scoring on the center target during initial 10 sec period


Controls – Navigation

  • Distance Measurement

    • CMU Camera

      • Computes distance to target using color tracking and calculating based on y-axis

      • Computes horizontal offset using x-axis position

    • Gear Tooth Counters

      • Provide velocity information

        for shoot-while-driving

  • Robot Orientation

    • Solid-state gyro provides heading information


Controls – Additional Sensors

  • Optical sensors

    • Balls in “ready to fire” position

    • Full/empty slots in revolver

  • Wheel encoder

    • Monitor the speed of the pitching motors to allow for proportional integral adjustments

  • Roller-follower

    • Limit switch to indicate position/index of revolver

  • Flapper sensor

    • Detects when flapper is fully closed before revolving


Controls – Autonomous

  • Very similar to driver-operated periods

    • Vision camera tracks light and determines when to shoot

  • Ability to select delays and different paths to drive for unpredictability and compatibility with alliance partners


Controls – Operator Interface

  • Driver controls both driveline and ball collector

  • Operator station to control ball launching

    • Switch to indicate offensive/defensive periods

    • Ability to fine tune the shooting vector

    • Fully automated or fully manual shooting modes

  • Sensor feedback to operator

    • Indicator lights to show target

      acquisition


Timeline Milestones

  • Jan. 7th – Kickoff

  • Jan. 11th – Strategy decision

  • Jan. 15th – Overall configuration

  • Jan. 27th – Preliminary Design Review

  • Jan. 30th – Chassis built

  • Feb. 5th – Driver try-outs

  • Feb. 7th – Mechanical subsystems built

  • Feb. 11th – Systems integrated

  • Feb. 17th – Critical Design Review

  • Feb. 21nd – Ship robot


Competition Schedule

  • Granite State Regional (Manchester, NH)

    • March 2nd – 4th, 2006

  • Florida Regional (Orlando, FL)

    • March 10th – 12th, 2006

  • Championship Event (Atlanta, GA)

    • April 27th – 29th, 2006

  • [email protected] 7 (Worcester, MA)

    • June 23th – 24th, 2005


Questions?

For more information visit our website at http://www.wpi.edu/~first/

Everyone is welcome to stop by and visit us in the lab (Higgins 005) or at any competition (just ask for details!!)


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