Team 95 Hard At Work - 2015

[JamesCH95]

First thing we found when unbagging this weekend was that a lot of moisture had worked its way into the robot bag and rusted a number of bearings and pins. Here is some of the (cleaned up) aftermath. WD40, oil, and a wire brush worked pretty well.



We made some plastic spacers to replace stacks of washers on our 'totem' bars. Saved a little weight and they look a little better.



Finished some new 'wrist drive' plates and installed them. These ones are more concentric than our first set, which had lead to some funny arm behavior.



I welded some parts out of titanium wire/rod. These parts will be used in the 'totem' to connect to top bar to the lower three bars. In theory this will allow us to pick up a stack of totes 4 high and two wide.



Finally, we installed and tested a 'sensor array' on the lower-most totem bar that will help us align onto a pair of totes. In the little bit of testing that we did they worked most of the time. We have some fine-tuning to do at Hartford this weekend, but I am optimistic.



Here is some context on the whole robot: http://i.imgur.com/iIfnmXb.jpg