Students started prototyping the robot this week. We tried a system of motors, pulleys, and springs to move the forks closer and farther apart. We chose a fork design that consists of a 3 inch, 45 degree angle offset. We used to CAD software to lay out our drivetrain design. We also started to CAD the bearings for our lift.
In the world of design, we locked down the positioning for our sub-components. We decided on a continuous belt system for the lift, we cut our drivetrain, and are preparing it for welding. Next week, We will start building the lift, finish robot CAD, and prototype the electronics board.
This year’s game has lots of challenges. They include moving totes and recycling bins, stacking totes up to six feet, removing “litter” from game floor, inserting “litter” into recycling bins, and driving robot over scoring platforms.
Our strategy is to build a fast robot that can reliably stack totes. After much discussion, we decided on a forklift design. The robot will have a U–shaped chassis with space in center for forklift. We think this design will provide stability, as well as space for electronics. Mecanum wheels will provide drive train maneuverability.
We are deciding between two ideas for our forklift design: an angular articulated forklift with two forks that pivot at the robot’s back and a linear articulated forklift with two forks attached to a perpendicular piece that allows them to open and close.
The robot will also have a pulley system to lift the fork up and a few layers of sliders to increase it’s height.
During Week 2, we will build prototypes to aid our forklift design decision. We will also CAD the drive train.
Team 2039 launched its 2015 build season with a meeting at Eigerlab. In the morning, students and mentors watched the kickoff ceremonies that introduced this year’s game: Recycle Rush
After receiving the game information, the team broke into smaller groups to discuss strategy and robot design. Parents joined in by planning construction of a playing field which we will use to test our robot design and practice our driving skills.
RECYCLE RUSH is a recycling-themed game designed for the 2015 FIRST Robotics Competition (FRC). It is played by two Alliances of three Teams each. Alliances compete simultaneously to score points by stacking Totes on Scoring Platforms, capping those stacks with Recycling Containers, and properly disposing of Litter, represented by pool noodles, in designated locations. In keeping with the recycling theme of the game, all scoring elements used are reusable or recyclable by teams in their home locations or by FIRST at the end of the season.
Each RECYCLE RUSH Match begins with a 15-second Autonomous Period in which Robots operate independently of their drivers. During this period, Robots attempt to move themselves, their Yellow Totes, and their Recycling Containers into the area between the scoring platforms, called the Auto Zone. Additional points are awarded if the Yellow Totes are arranged in a single stack.
During the remaining 2 minutes and 15 seconds of the Match, called the Teleop Period, Robots are controlled remotely by student drivers located behind the walls at the ends of the Field. Teams on an Alliance work together to place as many Totes on their Scoring Platforms as possible. Alliances earn additional points for Recycling Containers placed on the scored Totes, with Recycling Containers at greater heights earning more points.
Alliances also earn points for disposing of their Litter in either their Landfill Zone (the area next to the Step marked by the white line) or placing Litter in or on scored Recycling Containers. Alliances that unscored leave Litter on their side of the Field at the end of the match add points to the score of the other Alliance, as it is considered unprocessed and not properly disposed of.
Alliances have an opportunity to earn “Coopertition Points” by coordinating with the other Alliance in the Match. Coopertition Points are awarded if, at some point in the Match, there are at least four Yellow Totes on the Step simultaneously. Coopertition Points are doubled if the Alliances arrange at least four of those Yellow Totes in a single stack on the Step.
Rockford Robotics has completed construction of our 2014 ‘bot. We will “bag and tag” the ‘bot on Tuesday, Feb. 18. Then it is hands off until we compete in the Central Illinois Regional, Feb. 27 – Mar. 1 and the Wisconsin Regional, Mar. 20 -22, 2014
ON-NOM, the Devourer, is a quick moving offensive robot with low center of gravity. It as good passing and catching skills as well as being a reliable and accurate shooter. Our goal is to work with alliance partners to maximize the score through assists.
In week four, we will mount the pick-up system and finish wiring the robot. Then we will have two weeks to optimize the autonomous program and for the drive team to practice.
Students continued robot design and build tasks.
The mechanical team has just about completed the robot construction. Only task left is to mount our ball pick up system onto the drive train.
The electronics/programming team:
Created a wiring diagram
Wired the entire robot. This includes nine motors and their associated controllers and the air compressor.
created a systems document that detailed electrical and programming needs.
The media team filmed a video promoting the team that we will use as part of our Chairman’s Award application
In week five, we hope to complete our electrical and programming integration and then start practicing for competition
During the Build Season Week Two, students built a wooden prototype of the robot. They used it to test and refine robot design parameters. After testing was complete, the mechanical sub-team used CAD software to draw the drive train, ball pick-up system, and shooter.
Local companies are helping with tasks we are unable to perform at our ‘bot shop. Superior Joining Technologies is welding our frame. Woodward is machining insert for pickup rollers. On Tuesday, Jan. 21, a student group will meet with GE Aviation engineers for a design review.
Students are also working on other build tasks including making robot bumpers and assembling gear boxes.
The Media Team completed design of t-shirts and promotional buttons. They also are working on a video that will be used to introduce the team to the Central Illinois Regional Competition.
Lastly, a student group put together a test for robot drivers.
Aerial Assist requires we build a robot that can pick up balls from the field, pass them from one robot to another, and shoot them into a goal. We get extra points for working with alliance partners to move the ball from robot to robot before attempting to score.
To address these challenges, our plan is to use a catapult for shooting the ball into the goal and a roller system to pick up balls from the field. We will also use the catapult to pass the ball between robots.
During the first week of build season:
The mechanical sub-team has been working on CAD (Computer Aided Design) for the pickup system and drive train.
The media team is working on our Chairman’s Award application. They are also designing a lamp — using the US FIRST e-watt bulb — for a Central Illinois Regional challenge.
Parents are helping build a practice field.
And some students are restoring older bots to use during our driver competition.