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Charged Up Documentation

Task​

Game Animation here.

  • Maneuver around playing field
  • Pick up and transport cones and cubes
  • Place cones and cubes on platforms and poles of varying height
  • Balance robot on a shifting platform

Arm​

Purpose​

  • Extend out to reach and grab and place cubes and cones
  • Retract inward to fit within frame limits

Build Process​

  • Built from aluminum tubing (hollow rectangular metal pieces) of varying sizes.
  • Largest area at the base, decreasing as it moves further out.
  • Paracord ran through the hollow interior of the arm as means of retracting the arm.
  • A motor at the base of the arm spooled the paracord, pulling the arm compact.
  • Coiled metal strips which act as springs are placed at the end of each level to help shoot up the arm without any external forces.
  • No extra mechanisms to extend arm

Setbacks​

  • Paracord experienced issues with knotting.
  • Too heavy, put the robot off balance.
  • Required removing material to lighten the load.

Claw​

Purpose​

  • Open and close to grab cubes and cones.
  • Pivot to orient cones in a way that they rest on their base.

Build Process​

  • Several iterations were created, each utilizing different paths of movement.
  • First iteration utilized a linear actuator to pull two sides of the claw together.
  • Second iteration utilized a similar system, though the path of the claw "pincers" was angled.
  • Third iteration utilized a system of a linear actuator parallel to the pincers, with two positions of pivot to convert the parallel motion to match the angles at which the arms would go in and out.
  • Circular pads with baking sheets were used to orient cones correctly.

Setbacks​

  • Linear actuator movement would not translate properly in creating lateral motion of the pincers.
  • Weight of the claw offset the center of gravity of the arm.
  • Previous grip surfaces did not hold the cones/cubes tightly enough, letting them slip out.

Bumper​

Purpose​

  • Provides a safe cushioning for collisions with other robots, field objects, and barriers.

Build Process​

  • Started with measuring the dimensions of the robot and making sure that the frame was square.
  • Cut 2 sets (1 for each color) of 2x4 plywood to the exact size needed to cover the frame perimeter.
  • Cut the pool noodles to size and tape them to the outside of the plywood frame.

Setbacks​

  • Creating L brackets of the right size to attach the bumpers to the frame of the robot.
  • Aligning the brackets to the mounting points on the robot.
  • Ironing on team numbers.
  • Rewrapping angles on the bumper with the cloth.

Drivetrain​

Purpose​

  • Make use of a Mecanum drivetrain to allow for increased angles of movement.

Build Process​

  • Assembled Toughbox Classic gearboxes according to instructions from Andymark to convert high rpm, low torque Neo motors to have both medium torque and speed.
  • Attach Mecanum wheels to the gearbox, and then the gearbox to the frame.

Setbacks​

  • The wheels had no system to keep them from sliding off the output shaft of the gearbox, requiring a retainment system to be fabricated.
  • The Mecanum wheels are fragile, meaning that the rollers on the wheel need to be repaired semi-often.