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WEEK ONE - PowerPoint PPT Presentation


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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

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Presentation Transcript
slide1

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.

WEEK ONE

slide2

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

WEEK TWO

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WEEK THREE

  • High Level Designing, fine tuning
    • Drivetrain: larger than the maximum perimeter required. Pneumatics calculations and weight management for slots to drive train were made.
    • 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
    • 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
slide4

WEEK FOUR

    • 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.
slide5

WEEK FIVE

  • Pre-integration Software and Mechanical Testing
    • Autonomous software for Autonomous mode
    • Autonomous coding for cycle resets
    • LEDs to indicate positions
  • Testing Results and Modifications
    • Shooter
      • Bending metal frame
      • Shooter slack solved with elastic ring
      • Bending shooter mount in the front
    • Retriever
      • Cross-structure too weak
      • Pneumatic mount had to be re-adjusted
    • Drive Train
      • Dimensions
    • Overweight problem
slide6

WEEK SIX

  • 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