The Team Tom Robert Daniel Sean
Initial Designs • Two wheeled robot with rotation sensors to determine position with stabilizers. • Rotation Sensors Inappropriate • Harder to determine if we’d hit an object • Unstable due to lack of grip • Four wheeled robot with 4 touch sensors. • Too complicated as only 3 inputs on RCX block • Less grip than tracks Requested: 2 Motors, 3 Touch Sensors, 1 Light Sensor, 1 Lamp
Manoeuvrability Data will be sent asynchronously from the sensor, so the unit must be able to adapt dynamically to the environment
Final Design • Stable Tracks – Better Grip on different surfaces • 1 Touch sensor enabled more efficient programming • 2 motors for central rotation while turning 1 Light Sensor 1 Touch Sensor 2 Motors 2 Lamps
Design Problems and Solutions Geared to be slower, but more accurate and powerful Wheels Tracks have more surface area on ground enabling greater grip and greater manoeuvrability Constant redesign of claws and grabber throughout design process. Final solution had sturdy structure while also allowing precise can manipulation. Claws Line Detection Light sensor too far forward in original design. Moved under grips. Front guard added to protect sensor.
Programming • Concise accurate code for velocitous execution to enable expeditious, pseudorandomisation of antiphrastical translocation of the artificial assemblage. • Two programs for the three tasks • Task 1 & 2 • Detects pressure of only static objects by setting minimum touch recognition. • On detection the robot will rotate and reverse avoiding the objects. • The White line can be detected with the light sensor, resulting in the same reaction as sensing objects.
Experimentation • Constant redesign led to various adjustments of the model • Nearly changed the design of the tracks, due to slow movement. However, learned from consultation with other groups that wheels may be faster, but offer less strength and stability. • Light sensor: several problems detecting line, as variations in light intensity caused anomalies, which resulted in the robot passing the line. To combat this, we developed a shield at ground level, which limited the amount of interference from other light sources.
Experimentation Design of gearing system: Susceptible to vibrations during operation, causing the cogs to slide away from the main axel. This can cause the tracks to fail and render the robot ineffective. 2 cogs to have greater grip to cog on motor
IR Programming • The main purpose is to hunt. • Program designed to actively scout the opposition’s infrared signal. • Robot will rotate constantly until a signal is detected. • Our opponent if detected will trigger our robot to rotate by 45 degrees and run.
Conclusion • Successful in all tasks but improvements can be made • Tracks can be replaced with larger wheels which would need fewer gears and therefore less likely for mechanical error to occur. • The program could be rewritten to take a more precise route towards cans. • We could develop a better defence system.