Friday, January 18, 2019

2019 Day 13: Cargo Mechanism Protopipe

We have been successfully using Protopipe this season to test our cargo designs. It has let us make rapid iterations.

Today we quickly added a bottom roller to help eject cargo further than we were before. On the real design this bottom roller may be accuated to help us intake cargo from the floor as well.



- Spectrum


Thursday, January 17, 2019

2019 Day 12: CAD Updates

CAD Updates


We still have a lot of work to do before this design is ready for production but we are solving a lot of the problems and getting closer to production. None of our subsystems have made any large changes it's just more and more development at this point.

- Spectrum

Wednesday, January 16, 2019

2019 Day 11: Climber Development





Climber

The idea for our climber came from sforbes' youtube video below.

Since then he has posted another video that is actually closer to what we are really working on.

Here are some of the current sketches of our climbing mechanism.




We are planning for the main central arm to be sheetmetal and for the two rear arms to be round tube with tie rod ends since those members are mostly only experiencing forces in tension.

Protopipe Cargo Mechanism

We have an updated cargo mechanism prototype that is helping us solve for some of the variables for that mechanism.

We are able to change the height of the roller, the length of the bottom plate, the locations of the rear stop bar and more.




- Spectrum

Tuesday, January 15, 2019

2019 Day 10

Cargo Mechanism

This will hold the cargo on the elevator. The mechanism will intake it from the over the bumper ball mechanism. The tilt of this mechanism lets us start the cargo on the elevator higher reducing the amount of height we need to in our elevator to reach the 3rd level of the Rocket.

Hatch Mechanism

This is the intake for hatches from the loading station. It's mounted above the cargo mechanism and flips into the correct orientation when the cargo mechanism is pointed down. This allows us to start the match while holding a hatch and still flip it down closer to the edge of our frame perimeter.


- Spectrum


Sunday, January 13, 2019

2019 Day 9: Inspiration

As we start bring our ideas to life in CAD there have been a few robots that we keep coming back to for inspiration.

GUS FRC#228 - 2011

CAD Download

GUS' 2011 robot featured a great chain driven cascading lift and a simple wrist intake. We have been heavily looking at their lift and power transmission for the elevator to get ideas for our elevator for this year.

Simbotics FRC#1114 - 2011

Simbotics' 2011 robot also had a cascading lift but there design was based around sheet metal manufacturing which more closely mirrors how Spectrum builds it's robots.


Robowranglers FRC#148 - 2011


The Robowranglers' 2011 robot features an awesome extending link for the top bar on it's 4 bar arm. We have been looking at this CAD as an example for how to do a simple extension that we will be using on our Cargo intake.

Here is the current state of one of the intake extensions.

- Spectrum


“A complex system that works is invariably found to have evolved from a simple system that worked. A complex system designed from scratch never works and cannot be patched up to make it work. You have to start over, beginning with a working simple system.” - John Gall

2019 Day 8: Allenless Part 2

Progress Report

The team spent the majority of their time in the lab today tuning their subsystem designs.

Sheet Metal Deadline

The subsystems that require sheet metal are really trying to meet next week's deadline and are hammering out the last big chunks of the design before lightening.
  • Drivetrain
    • Access and mounting holes have been added, and the encoder mount is underway
  • Elevator
    • The carriage is starting to come together. Bearings have been added to the side rails of the elevator as well as being sandwiched in between the plates on the carriage.

Intake

  • Cargo Intake Box
    • Part of today was also focused on intake geometry. The cargo box carries the ball to different positions on the elevator without obstructing the hatch mechanism.
  • Hatch Subsystem Version 2
    • The hatch intake has undergone an upgrade, including a new feature. While still in the prototyping stage, we had implemented a 'finger,' a 1/4" thick piece of Lexan placed above the (duck!) beak. A pneumatic cylinder actuates the finger and allows it to grab and secure that hatch so that any jostles by other robots do not impede the hatch from reaching the intended deployment zone.

Allenless Again...

The team has divided into two warring tribes who are battling for control over the name of the 2019 robot. Not really, but in all seriousness, we are diligently working while we await Allen's return from the blizzards of the north tomorrow morning.

- Spectrum

"There is no substitute for hard work" - Thomas A. Edison

Friday, January 11, 2019

2019 Day 7: Allenless

Allenless

Today was no ordinary day of build season for Spectrum. It was our first of two days without our Lead Mentor, Allen Gregory. Sadly, FIRST Headquarters has claimed him for the weekend for LRI training. Despite Allen’s absence, we were still able to make progress on our subsystems.

Drivetrain

This year we positioned our gearbox at the front of our robot to create space for our climber. Each Side Panel will feature two traction wheels in the middle and an Omni wheel on each outer edge. Our Drivetrain has progressed rapidly and we are hoping to send it to our sheet metal sponsor, SolarCraft, sometime late next week.

Hatch Panel Intake
We continued to add to our hatch panel ‘DUCK!’ intake by designing in a pneumatic actuated ‘finger’. The ‘finger’ will keep the hatch panel in place during pickup and transportation until it gets scored.
Cargo Carrier

We made a prototype out of protopipe for our cargo carrier mechanism with a simple roller and dustpan design. This cargo mechanism will be attached to the inner carriage elevator and will spit out the cargo to score.