Raider Robotix Robotsfirst.wpi.edu/Images/CMS/First/2007REW_IH_FRC25.pdf · Silver Scorpion 2002...
Transcript of Raider Robotix Robotsfirst.wpi.edu/Images/CMS/First/2007REW_IH_FRC25.pdf · Silver Scorpion 2002...
Raider RobotixRobots
A developmental history 2000-2006
A Lineage of Success
Cradle Robber 2000
National Champion
RoboKong2001 National
Final 8
Silver Scorpion 2002 National Div. Champion
Evil Machine 1National Finalist
Evil Machine 2
Well it ran!
Evil Machine 3
SC RegFinalist
A Lineage of Success
2006 Evil machine 4National Finalist and recipient of National Delphi Driving Tomorrows Technology award
Parts to Consider
• Robots can be considered as the sum of several key systems
Chassis
Manipulator Mechanism
Sensors and
Programs
Drive Train
Drive Trains
• A look at the changing 25 drive train• 2000-2002 chain and sprocket drive• 2003 first integrated gear assembly• 2004 removable gear assembly• 2005-6 use of interchangeable gear
linkage modules
Drive trains
03 Prototype (nylon) 03 Used
04 Used-spare module
2005-06 Modular Transmission Design
Stack of 4 Transmission Modules
Chassis Showing Wheel Gearing
Installing a Modular Transmission
Inserting a Transmission Module
Meshing the Motor Axis gear with the transmission
Bolting on the Motor Plate
Overview of the gearing
Chassis development
•2000- welded aluminum sheet
•Pros- very supportive
•Cons- heavy
•Welds could break in crashes
•2001- Aluminum sheet joined by threaded standoffs
•Pros- flexible
•Cons- loss of screws at times
Chassis development
2002 Aluminum Tubing with Nylon Connectors
Pros- tubular construction
Cons- difficulty fastening plates wo. Weakening frame
2003 Aluminum sheet with drive train module integrated
Pros- reduce weight dramatically
Cons- attachment of manipulators made modules unwieldy
Chassis development
• 2004-2006 Extruded Aluminum with Aluminum Sheet
• Strength good with ease of attachment
• Angle joints need reinforcement
• Bumpers integrated into recent modules
What About Wheels?
• 2000-2001 robots used the Skyway wheelchair wheels in the kits
• 2002- 2006 made custom wheels from Skyway beadlockwheels
Customizing Wheels
Team 25 customizes our wheels with treads specific to the game at hand
Manipulators
• For balls- 2000, 2004- claws• Jump the Wall/Move Ramp- 2001- the prongs• Move Rolling Goals-2002, 2001- pincers• Ramming Wall- 2003- Pneumatic wings• Climb and Hang- 2004- arm with hook• Hoist Rings- 2005- telescoping arm with elbow• Shoot Balls- 2006- pitching machine• 2007? – we find out tomorrow
Grabbing claws
• 4 fingered claws worked best for us
• Small motor drives a screw mechanisms that pulls up tabs on base of each finger
• Fingers pivot on fixed attachment points
• Ball self centers, fingers have friction surface on tips to insure grab
• Claw functions best from above with ball in fixed spot2000
Cradle Robber claw
Jumping the Wall
• Prongs attached to wall and anchored
• Robot pivoted on central axis driven by chain drive
•Program included a jump mode routine- 8 sec
•Potentiometer sensors told machine arm position for preset positions
2001 RoboKing
Grabbing and Moving Goals
• Claws made of thick aluminum plate- gear driven
• Preset positions sensed by potentiometers
• Reach home mechanism 2002 Silver Scorpion
Pneumatic Arms
• Our first and only use of Pneumatics
• Carriage lifted by sprocket and linkage mechanism
• Arms extended and retracted with pneumatic pistons
•Frame heavily fortified with bumpers
•Robot extremely fast and powerful when retracted
Evil Machine 1
Towers for Reaching and Lifting
•2005 Telescoping Tower
•Cables on pulleys lift arm
•Take up reel supplies power
•Various cable related foul ups
•2004 Jointed Arm
•Motor driven gear mechanisms hoisted joints-three axis
•Later- gears replaced with chain and sprockets
Towers for Reaching and Lifting
Note failure of tower structure in picture below
2005 Evil Machine 3
Sensors and Programs
• Team 25 has used sensors since 2001
• Potentiometers- sensed arm position in 2001, 2002 , 2003 and 2004 robots
• 2006 used camera to aim shooter mechanism
Awarded Potentiometer-based control system in 2004
What About the 2006 Robot- Evil Machine 4 ?
• Uses 6 wheel drive train as previously discussed
• Top loading- human player loaded
• Camera seeks light and aims turret
• Turret driven by globe motor• Manual and auto target modes• Dead reckoning auto modes-
12 in all• Shooter mechanism paddle
driven and with nested axles
Evil Machine 4
• Tilt mechanism, axis drive and paddle wheels on nested axles
• Motors mounted on side plate
Evil Machine 4
•Turret driven by a series of gears run from a vertically mounted globe motor
•Potentiometers feed back position to processor
Note- contained and coded wiring in lower chassis
Evil Machine 4
• Protected camera aims turret• Color coded switches denote
various autonomous modes-can switch mode on the field
• CLEAN wiring
Evil Machine 4
Servo Brakes- we developed them in 02 and use them regularly
2007
?
Evil Machine 4
Hours of work and thought go into every team 25
robot …
…And every year we look for new ideas to improve on our prior performance
• Thanks for allowing us to share our story with you