Intake
Problem Statement: The SpinTake effectively needs to spin in 2 pixels and bring it to the arm.
Design Statement: The SpinTake needs the correct amount of force and space to correctly send the pixel up.
Our arm consists of two claws, or jaws, that grasp an object by coming together like a hand. This arm was made by creating 2 Tetrix MAX Flat with one compliant wheel on each one, giving us 2 compliant wheels total, creating a 360 grip on all sides of the pixels. We also have 2 compliant wheels mounted on a rod in the middle to separate the two pixels as well as give us more grip when we apply adequate force on either side into the center. Each arm also has its own respective servo which allows for a even more powerful grip on the pixels. Our arm is mounted front-facing at the front of the robot
Outtake
Problem Statement: The robot needs to be able to take both of the pixels from the platform and deposit them onto the Backdrop while reaching at least level two.
Design Statement: The outtake design needs to be smooth and under 14 inches.
Initially, we thought about using a virtual 4-bar linkage system for this years game, however in the end we felt linear slides would still be best for this years game. After testing, we decided to use goBILDA’s 4-stage belt-driven viper slide kit powered by a 435 RPM goBILDA 5202 Motor. We had found in previous years that stringing linear slides tends to be tedious and that the strings can often snap. As such, we felt a belt-driven slide would be much more consistent. After building the slide, we mounted it at an angle so that we can pass under the truss and stage door both ways. Attached to the top of the slide is an arm, which is attached to the slides by a servo that allows it to tilt from the accept to deliver position. We also use incremental lifting for the slides so we have more control over it.
Drivetrain
Problem Statement: The Robot needs to efficiently move around the playing field to score pixels faster.
Design Statement: The Drivetrain needs to be small and easy to maneuver around the field.
Our drivetrain consists of 4 mecanum wheels separately operated by four 435 RPM goBILDA 5202 motors. We use these wheels in order to achieve omnidirectional movement. These motors are mounted directly onto the base via face mounts, and all 4 of our wheels run on a direct connection with axles that go straight from the motor to the wheel and are attached via shaft couplers. We also used encoders on drive motors for better odometry in autonomous mode. We have a 13:7:1 ratio, so we can quickly cross the field, and we have packaged almost all of our motors in the drivetrain or close to the ground, keeping the center of mass low to avoid tipping. Thus, the weight evenly distributed so we can hang easier without tilting.
Drone Launcher
Our drone shooter consists of a rubber band and a servo. We use the servo in order to bring tension to the rubber band. We then stretch it over the guide and surround the drone with the rubber band so when the servo is flipped, it will propel the drone over the truss. We mounted the drone shooter at a perfect angle in which it is able to go over the truss no matter the amount of power.
Hanging
Our hanging consists of two high-torque motors with spools that are connected to a shortened piece of a tape measure with a hook on top. We “load” our hanging by folding the tape measure down and resting the hook under the servo of our drone shooter. This drone servo has two purposes, because as the servo moves, it lets go of our hanging mechanism and the tape measure snaps upright. Then, we move toward the truss and hook onto it. From here, we turn both the motors forward, causing it to lift the robot up as the string connected from the spool to the top of the tape measure folds unto itself as the motor “retracts” it back down.
