Transcript
t
Evolution
FolloW uS At SimBotiCS.oRG /frc1114 @frc1114 /simbotics
Intake• 2”diameterPVCtubecoveredinpaint-onurethanewithwoodenplugs,drivenby nylonhexshaft• Poweredbyshootergearboxwitha30:18VEXprobelt/pulleyreduction• Theoreticalfreespeedlinearvelocityof25ft/s
Shooter• 2pairsof4”x1”VEXprotractionwheelswith3/16”fabricbackedurethane rivetedtothecircumference• EachpairdrivenbytwoRS-550motorsthroughacustomgearboxwitha4:1gear reductionandVEXprobelt/pulleypowertransfer• Theoreticalfreespeedlinearvelocityof88ft/s• Two3/4”bore,8”strokecylindersacceleratetheballintotheshooterwheels• Eachcylinderhasadesignatedhighflowsolenoidandworkingpressure accumulatortomaximizeactuationspeed• Surgicaltubingretractscylinderstoreduceairflowrestriction
Control• Multiplepre-setclawanglesandshooterwheelspeedsforvariousshooting positionsaroundthefield• ClawanglecontrolledbyPIDcontrollerwithpositiondependentpowerlimitingto optimizepickupandpositionholding• Bang-bangcontrolledshooterwheelRPMforrapidspin-upandaccurateshooter velocity• Hotgoaldetectionduringauto,utilizingon-boardcamera• Encoderandgyrobasedfeedbackforreliableautonomousdrivingandpositioning
Drive• Rivetedaluminumsheetmetalchassis• Sixwheeldriveutilizing4”x1”VEXprotractionwheels• PoweredbyfourCIMmotors;powertransmissionviacustomtwospeed transmission,utilizingVEXproballshiftercomponentsandrollerchaindrive• Approximatetopspeedsof5.7ft/s(inlowgear)and13ft/s(inhighgear)• DropdownVEXpro4”omniwheelstoassistwithgettingoutoft-bonepins• Wheelieblockstomovetippingpointfulcrumoutandclosertotheground, makingtherobotmoredifficulttotip
“Mutation:itisthekeytoourEvolution.Ithasenabledustoevolvefromasingle-celledorganismintothedominantspeciesontheplanet.Thisprocessisslow,andnormallytakingthousandsandthousandsofyears.
Buteveryfewhundredmillennia,Evolutionleapsforward...”
-ProfessorCharlesXavier
Claw• DrivenbyVEXproBAGmotorthrougha50:1VersaPlanetarygearbox• 12DPsheetmetalgearattachedtoclawforadditional7:1speedreduction• 24DP3Dprintedgearattachedtoclawframeforpotentiometerfeedback• Apocketisdesignedintotheclawsheetmetaltomaximizetheheightinthe robot’sstartingconfiguration,maximizingthereleaseheightoftheball• Twosheetmetaltusksareusedtohelpcentertheball,alongwithadhesive backedfoamandteflon• Twoplastictubespreventaccidentalcontactbetweentheballandshooterwheels
tEAm 1114 PRESEntS: SimBot
top related