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Dewbot VI first thoughts. Hong Kong & in-transit 10-January-2010 Clem McKown. Essential Capabilities. Ability to climb 45°, 13” high “bumps” without capsizing – gotta get over the hump! – fast fast fast Need to get balls over the bumps or through the tunnels and into goals fast

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dewbot vi first thoughts

Dewbot VI first thoughts

Hong Kong & in-transit

10-January-2010

Clem McKown

essential capabilities
Essential Capabilities
  • Ability to climb 45°, 13” high “bumps” without capsizing – gotta get over the hump! – fast fast fast
  • Need to get balls over the bumps or through the tunnels and into goals fast
  • Need to herd balls – fast
  • That said, not sure the robot needs to be particularly high speed – it needs to do its business without a lot of hesitation
scoring
Scoring
  • Scored Ball – 1 pt
  • Elevated Robot – 2 pts
  • Suspended Robot – 3 pts
  • Less penalties
balls
Balls
  • 3 start far; 2 mid; 1 near
  • 8.75” typ diameter - ~1 lb
  • All reentered balls reenter mid – but are likely to role to far through tunnel
    • Scoring tends to send balls to opposing alliance side of field
more balls
More Balls
  • Balls cannot extend more than 3” inside the frame perimeter
  • Balls cannot be carried (must remain in contact with floor)
  • Only one ball at a time may be possessed
    • Possession means that if the robot spins in place or backs up, the ball stays with the robot
  • But several may be herded
elevated 2 pts robot
Elevated – 2 pts/robot
  • Completely above the plane of the platform and in contact with the tower
  • Platform is 20” off the floor
  • Is a robot on the platform “Elevated”?
suspended 3 pts robot
Suspended – 3 pts/robot
  • A robot only in contact with an elevated robot or a suspended robot
penalties 1 pt each
Penalties - -1 pt each
  • Handling balls before they are in the Corral
  • Not using Trident to return balls (2x)
  • Ball return timing
  • Lots more!!
crossing the line
Crossing the line
  • Completely crossing the centerline in autonomous will result in a penalty
in the zone
In the zone
  • Only one alliance robot may be in the opposing alliance’s zone
configuration envelope
Configuration (Envelope)
  • 120 lb
    • Excludes battery & bumpers
  • Normal – at the match start and during normal play, the robot must stay within this envelope
    • 28” x 38”
    • 60” tall
  • Finale
    • 84” diameter cylinder
    • 90” tall
bumpers
Bumpers
  • Bumper zone is 10-16” off the floor
  • Bumpers must protect the entire frame perimeter
  • Must protect corners
  • Must be backed by frame
  • 6” minimum segment length
  • Must be solid red or solid blue color – bumper color will indicate alliance
  • May be marked with Team # only
  • 20 lb max (not included in robot wt)
extensions beyond frame perimeter
Extensions beyond frame perimeter
  • Solely to interact with the ball, objects below the bumper zone (10”) may extend out to the bumper perimeter for no more than 2 sec
    • Cannot extend again for 2 sec thereafter
  • Robot can extend to Finale Configuration to right itself or alliance partner
  • Robot can extend to Finale Configuration during last 20s to Elevate or Suspend
autonomous
Autonomous
  • 15 s
  • Goal
    • If in mid or far field – herd/shoot balls into next nearer field
    • If in near field – score 1 ball
tunnel
Tunnel
  • 36” wide x 18” tall
  • A short robot could pass through
    • During normal play, there is no need for extensions above 18”
the hump
The Hump
  • Probably only able to cross hump driving in long (x) axis (unless CG very low)
  • 6wd will tilt 45° on climb and decline – with a significant tipping moment on the decline
  • 4wd will tilt less and reduce tipping moment – as long as it does not bottom out
  • Keep CG low and centered!
  • Power & traction needed
pneumatics
Pneumatics
  • Max of 4 Clippard tanks allowed
  • Solenoid valves may have a maximum 1/8” NPTF port size and 0.32 Cv
  • Cylinders
    • Any number
    • 24” maximum stroke
    • 2” maximum diameter
    • Any configuration
  • 60 psig max working pressure
motors
Motors
  • Allowable motors are
    • All KoP Motors
    • Unlimited number of servos with 55 oz-in torque & 100 rpm rotational speed
    • Unlimited number of FTC servos
    • A maximum of 3 additional (5 total) CIM motors
  • There are (4) Nisso-Denko motors (2 each L & R) in KoP – these have worm gear reduction – (4) couplers provided
  • 2 Fisher Price -9015 motors (& plastic gearboxes)
  • 1 Mabuchi motor RS555SH-2670
  • 1 Mabuchi motor RS555VC-3754
  • No Globe motors
budget limits
Budget Limits
  • $3,500 Robot limit
  • KoP parts valued at $0
  • $400 max per component
  • Individual fasteners <$1 ea are excluded from this calculation
  • “Recycled” parts valued at undepreciated original value
herder
Herder
  • Under-bumper herder/pusher/shooter should be feasible
    • Probably pneumatic push/shoot
    • Prevent ball penetration under frame >3”
      • Use 3” sides to prevent ball loss
  • Push balls over hump (with partial climb) or shoot through tunnel or into goal
  • 2 sec max extension
  • Best if full frame width…
  • Better if wide orientation
    • Herd more balls
    • Herd balls easier
    • Corresponds to tunnel & goal width
ideas
Ideas
  • Keep robot low in normal configuration
    • Low CG – tip-proof (like DEWBOT V)
    • Fit through tunnel?
  • 4wd to moderate tipping angles and moment
  • Pivot or wide 4wd to enable wide herding & shooting (need to manage tipping potential)
  • If Pivot, Snake & Automobile modes seem more useful than Crab
ideas1
Ideas
  • Tilt-a-frame to climb onto Platform

Driven wheels

Undriven tilt lift

ideas2
Ideas
  • Shooter / pusher / herder device
  • Same shooter / pusher / herder idea on 2 axis w/ pivot drive
  • For short side (x-drive), could be almost 28” wide if front wheels are shifted aft
  • For long side (y-drive), would need to be inset for drive wheels (because you probably could not sacrifice the wheelbase here) – so maybe same effective width as short side

x pusher

y pusher

ideas3
Ideas
  • Low-velocity, wide, un-aimed shooter / pusher at one end of robot
  • High-velocity, focused, aimed kicker at the other end
ideas4
Ideas
  • Non-overlapping “wings” folded on top of robot to act as “righters” should the robot overturn.
  • These could also provide hanging or lifting points for suspension