t EVOLUTION FOLLOW US AT SIMBOTICS.ORG /frc1114 @frc1114 /simbotics Intake • 2” diameter PVC tube covered in paint-on urethane with wooden plugs, driven by nylon hex shaft • Powered by shooter gearbox with a 30:18 VEXpro belt/pulley reduction • Theoretical free speed linear velocity of 25 ft/s Shooter • 2 pairs of 4” x 1” VEXpro traction wheels with 3/16” fabric backed urethane riveted to the circumference • Each pair driven by two RS-550 motors through a custom gearbox with a 4:1 gear reduction and VEXpro belt/pulley power transfer • Theoretical free speed linear velocity of 88 ft/s • Two 3/4” bore, 8” stroke cylinders accelerate the ball into the shooter wheels • Each cylinder has a designated high flow solenoid and working pressure accumulator to maximize actuation speed • Surgical tubing retracts cylinders to reduce air flow restriction Control • Multiple pre-set claw angles and shooter wheel speeds for various shooting positions around the field • Claw angle controlled by PID controller with position dependent power limiting to optimize pickup and position holding • Bang-bang controlled shooter wheel RPM for rapid spin-up and accurate shooter velocity • Hot goal detection during auto, utilizing on-board camera • Encoder and gyro based feedback for reliable autonomous driving and positioning Drive • Riveted aluminum sheet metal chassis • Six wheel drive utilizing 4” x 1” VEXpro traction wheels • Powered by four CIM motors; power transmission via custom two speed transmission, utilizing VEXpro ball shifter components and roller chain drive • Approximate top speeds of 5.7 ft/s (in low gear) and 13 ft/s (in high gear) • Drop down VEXpro 4” omni wheels to assist with getting out of t-bone pins • Wheelie blocks to move tipping point fulcrum out and closer to the ground, making the robot more difficult to tip “Mutation: it is the key to our Evolution. It has enabled us to evolve from a single-celled organism into the dominant species on the planet. This process is slow, and normally taking thousands and thousands of years. But every few hundred millennia, Evolution leaps forward...” - Professor Charles Xavier Claw • Driven by VEXpro BAG motor through a 50:1 VersaPlanetary gearbox • 12 DP sheet metal gear attached to claw for additional 7:1 speed reduction • 24 DP 3D printed gear attached to claw frame for potentiometer feedback • A pocket is designed into the claw sheet metal to maximize the height in the robot’s starting configuration, maximizing the release height of the ball • Two sheet metal tusks are used to help center the ball, along with adhesive backed foam and teflon • Two plastic tubes prevent accidental contact between the ball and shooter wheels TEAM 1114 PRESENTS: SIMBOT
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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
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