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2012 Team 63 Robot Design

2012 Team 63 Robot Design. .05 inches/inch. Shooter Height and Position. Shot Range Requirement 26 ft (half court) 14 ft (top of key) 5 ft (inside game). 38.75”. .05 inches/inch. Shooter Height and Position. Steep launch angle has advantages… helps avoid defender reach

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2012 Team 63 Robot Design

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  1. 2012 Team 63 Robot Design

  2. .05 inches/inch Shooter Height and Position Shot Range Requirement 26 ft (half court) 14 ft (top of key) 5 ft (inside game) 38.75”

  3. .05 inches/inch Shooter Height and Position • Steep launch angle has advantages… • helps avoid defender reach • Helps lower COG • Enables inside shot 14” 60 “ max Defender Defender Shooter 7” 36” 40” 65 degree example launch angle, 36 inch launch height

  4. Shooter Analysis…Ignoring Air Drag A Single Launch Angle is Simplest Design for 5, 14, and 26 foot shots How does launch angle effect required exit velocity ? 26 Foot Shot 14 Foot Shot 65 Degree Launch Angle Implies a Speed Capability of at Least 40 fps

  5. Shooter Analysis…Ignoring Air Drag Ball Trajectory 26 Foot Shot 14 Foot Shot 5 Foot Shot

  6. .05 inches/inch Shooter Height and Position 5 Foot Launch Height Will 65 Degrees Still Work ? 65 degree 14” 60 “ max Defender Defender Shooter 7” 60” 36” Shooter Ball Height 40”

  7. Shooter Analysis…Ignoring Air Drag 5 ft launch height 26 Foot Shot 14 Foot Shot 40 fps target capability still appropriate for 65 degree launch angle

  8. Shooter Analysis…Ignoring Air Drag Ball Trajectory 26 Foot Shot 14 Foot Shot 5 Foot Shot

  9. .05 inches/inch Shooter Height and Position • Target 65 degree launch angle • Avoid the defender reach • Minimize height for low COG • Longer robot length helps keep height reduced

  10. Turret Design Desirable Characteristics • Accept ball from vertical feeder at any turret position • More than 360 degree range of rotation • Ability to connect a position feedback sensor to the drive train • Position feedback accuracy • Drive train backlash < ?? degrres • VERY low friction for good controllability of rotation angle • Speed capability of 4 rev/sec • Weight < ? • Ability to mount ball launch on top of it

  11. Turret Design

  12. Turret Design

  13. Shooter Design Desirable Characteristics • Automatic targeting • First shot accuracy • High fidelity trajectory adjustments • Repeatability • High ball trajectory • Wide shooting range • Rapid fire ability

  14. Shooter Design

  15. Ball Transport Design Desirable Characteristics • Store balls in the feed mechanism • Gather balls against obstacle • Top and bottom inlet • Feed other robot from bottom…with some horizontal speed • .5 sec target speed floor to turret. • Wide Mouth

  16. Shooter Design

  17. Reference Charts

  18. Function Table

  19. Traction System Preliminary Design Even without the specific design requirements typically implied by the specific competition rules to be released in January 2012, an effort can be made to estimate a design. This effort may allow certain primary drive train components to be ordered in 2011. In this effort the following robot parameters will be assumed…

  20. Traction System Preliminary Design : Gearbox CIM Motor Performance Figure 1. CIM Motor Characteristics

  21. Traction System Preliminary Design : Gearbox Gearbox Options..Andymark • AM Shifter • Chain sprocket output within the frame • Pneumatic and electric shift options • Pneumatic is preferred (POWER SHIFT) • Low Gear = 10.67 : 1 • High/Low Ratio = 2.56 standard, 4 : 1 optional • 9lb weight with 2 CIM motors, bimba shift cylinder • Need quantity 2 per robot • SuperShifter • Shaft output external of frame for Direct Drive • Pneumatic and electric shift options • Pneumatic is preferred (POWER SHIFT) • Low Gear = 24 : 1 standard or 30.1 optional • High/Low Ratio = 2.56 standard, 4 : 1 optional • 10lb weight with 2 CIM motors, bimba shift cylinder • Need quantity 2 per robot

  22. Traction System Preliminary Design : Gearbox Gearbox and Wheel Diameter Options..AndyMark Can get with SuperShifter if final gearing stage is removed ! Option 3, 10, 0r 15 Delivers Good Speed / Tractive Effort Compromise We can get all 3 in one gearbox…if we order the correct options

  23. 1/10 Scale Traction System Preliminary Design : Gearbox Option 3 With 6” Wheels 38” 3” sprocket 3” sprockets These larger sprockets (compared to 2011) reduce the chain tension for low gear pushing. Chain Driven, 6” wheel Direct Driven, 6” wheel

  24. 1/10 Scale Traction System Preliminary Design : Gearbox Option 10 With Both 6” and 8” Wheels 38” 4” sprocket 3” sprocket These larger sprockets (compared to 2011) reduce the chain tension for low gear pushing. Chain Driven, 6” wheel Direct Driven, 8” wheel

  25. Traction System Preliminary Design : Gearbox Option 15 With 4” Wheels 38” 1/10 Scale 3” sprockets Very similar to 1114 and 254 (2011 World Champion) Chain Driven, 4” wheel These larger sprockets (compared to 2011) reduce the chain tension for low gear pushing. Direct Driven, 4” wheel Lowest Center of Gravity, High Speed Use Super Shifter With Final Stage Removed

  26. Traction System Preliminary Design : Gearbox Option 10 Detail, 8 inch center wheels, 2 SpdAndyMarkSuperShift Gearbox, 24:1 Low Gear, 2.56 High/Low Ratio Speed / Tractive Effort Curve…Low Gear Upshift near 6 fps STE near the friction value

  27. Traction System Preliminary Design : Gearbox Option 15 Detail, 4 inch wheels, 2 SpdAndyMarkSuperShift Gearbox, Final Stage Removed, 10.67:1 Low Gear, 2.56 High/Low Ratio Speed / Tractive Effort Curve…High Gear Top Speed near > 20 fps

  28. Traction System Preliminary Design : Gearbox Option 15 Detail, 4 inch wheels, 2 SpdAndyMarkSuperShiftGearbox, Final Stage Removed, 10.67:1 Low Gear, 2.56 High/Low Ratio Acceleration Simulation…Shift up when voltage hits max • Accel up to shift speed at 230 ms • Accel up to near full speed in ~2 sec • Is low gear even needed for acceleration ?

  29. Traction System Preliminary Design : Gearbox Option 15 Detail, 4 inch wheels, 2 SpdAndyMarkSuperShift Gearbox, Final Stage Removed, 10.67:1 Low Gear, 2.56 High/Low Ratio Acceleration Simulation…Starting in High Gear Versus Shifting (Baseline) Looks like shifting has a 10 ft lead in an all-out sprint Low gear is helpful for a hard sprint (or pushing)

  30. Traction System…Detail Design Team 254 Technology • 2 Speed Gearbox • Cantilever Wheel Shaft, 2 bearing design • Dual sprocket inboard on wheelshaft for maximum width between wheels • 3-1/2” wheels…high friction, hub recessed into the wheel

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