Pan/Tilt Assembly

[billbo911]

In 2009 we built a turret for our robot. It was made from a PVC ring and four V-Channel bearings. It worked flawlessly and still works perfectly today. We will also be modifying it to be our T-Shirt cannon robot. Here are some pictures to help out.



The ring of screws created a sprocket out of the PVC ring so the gates belt could rotate it.



Look closely at the top of this one and you can just see the final product. In this picture the turret is pointed to the right and the motor is visible behind the "C" in "Force".



I'll see if I can get some more detailed picture of the drive mechanism. BTW, we included a pot for position feedback. That allowed us to actually follow another robot and fill 'em up in Autonomous.

[pfreivald]

We used a lazy susan for our 2009 shooter as well -- we rounded a very large ring out of a piece of plywood and then Gorilla glued a timing belt to the outside to turn it into a giant sprocket, then drove it with a timing belt sprocket attached to a globe motor.

It worked *great*, with about 340 degrees of movement before we ran into the edges of the belt -- but that's where we had our limit switches anyway!

An encoder was mounted to the assembly, but we didn't end up using it.

[Zflash]

Originally Posted by billbo911

In 2009 we built a turret for our robot. It was made from a PVC ring and four V-Channel bearings. It worked flawlessly and still works perfectly today. We will also be modifying it to be our T-Shirt cannon robot. Here are some pictures to help out.

1319 did this in 2006 with our pan and tilt turret used for shooting poof balls. The only difference was we used an aluminum ring instead of a PVC one as well as 8 (2 on each corner) V-channel bearings. It certainly does work flawlessly. If you have a copy of the behind the design book our robot is featured in it and I believe has a close up shot. PM me if you want more info or pics.

[Alan Anderson]

The TechnoKats t-shirt cannon was mounted on the team's Rack & Roll practice drivebase for a while. Tilt control was a simple chain and sprocket on the arm's "shoulder" joint. There was no need for a pan mechanism, as the robot itself can turn to face whatever direction is desired.

If we hadn't donated the 2008 Overdrive robot drivebase to our sponsor for target practice, it would have made a fantastic t-shirt cannon platform. Maybe we can mount the remaining superstructure to a simple mecanum drivebase and drive it around that way.

[Andrew Schreiber]

http://www.chiefdelphi.com/media/photos/22693 shows a cad rendering of the 2006 shooter we did on RUSH. Not pictured is the spur gear we had powering it. That can be seen http://www.chiefdelphi.com/media/photos/22666 Here is the whole thing http://www.chiefdelphi.com/media/photos/23193.

We were fortunate to have the water jetting done for us. If you have more questions I will see if I can get someone to either get me some more pictures of it or let me back into the shop so I can snap some of it for you.