Sunday: Day 2 Recap
Ri3D Day 2 (Sunday)
Today was even more exciting than yesterday, with a lot to accomplish in a short time. We started by realizing the robot chassis we made before kickoff* could be flipped over to allow for easier mounting of mechanisms on top and easier access to electronics from the bottom. Without any obstructions on the field, we could lower our electronics even further.
With the drivetrain configured and the Everybot mechanism removed, the team’s intense CADing efforts began.
About after lunch, assembly and manufacturing on the major subsystems of the robot began:
- Ishan & Mateo leading the climbing mechanism
- Galen & Brandon designing the elevator and pivot
- Andy & Dylan on intake (illegal fixed intake representing a retractable one)
- Ben & Jiho on arm & rolling claw (end-effector)
- Max & Ethan & Ryan running the CNC
While robot systems were in construction, field element construction continued with Neil, Zion, and Mikhael designing and manufacturing a reinforced wooden version of the cage and Kenny helping set up the lumber for the BARGE.
The end-effector was the first system to be completed at 3 pm. After testing, we found that the end-effector could reliably pick up CORAL and push ALGAE out of the REEF. After properly tensioning the transmission belt, the end-effector was surprisingly able to grab ALGAE out of the REEF. This almost completely derailed our plans on a separate ALGAE mechanism, and we started discussing scoring ALGAE into the NET with our CORAL arm and elevator.
Second was the CORAL ground intake at 4 pm. Being time-conscious, the fixed nature of the intake allowed the easy assembly and testing of different compression and star wheels. We found that the first attempt at an intake worked at speed with robot driving. However, it was neither fast nor reliable. The design team resolved to add two fixed rollers to combat the CORAL spinning in place on the slick front bumper.
Next was the pivot mechanism mounted in the center of the last elevator stage at 6 pm. After adding a 90-degree gearbox to avoid interfering with the climbing mechanism, the pivot showed that it could manipulate the entire weight of the end-effector arm with captured game pieces. However, stalling the mechanism resulted in the modified swerve module azimuth skipping along the belt. We currently have no plan to add an absolute encoder on the azimuth due to time constraints; however, that may prove necessary during the onseason.
Then was a partially constructed climbing mechanism’s lower harpoon at 5 pm, with the locks clicking into the cage satisfyingly. This gave the climbing team plenty of confidence to continue manufacturing the identical top harpoon. One concern raised with the snug latch was removing the robot from the climb at the end of a match. The robot will most likely need three people to remove it from the deep cage, with two students lifting the robot and a third installing a removal tool onto the climb harpoons and then removing the cage from the robot.
As the last mechanism to be tested before dinner, the elevator-end-effector combo was temporarily “mounted” (stepped on) to test the reach with each gamepiece. The arm lacked substantial reach when bumpers were accounted for, and plans were made to add 4 more inches to the arm.
After dinner, the climbing mechanism had both harpoons complete, waiting for 3d printing plugs. Assembly was started on the elevator winch, and cascade rigging is attached. The arm was removed, and a new 2x2 tube was cut to length. (We also spent several manhours hunting for a missing elevator bearing block only to 3d print a replacement).
The meeting concluded with all mechanisms past the proof-of-concept stages, with several revisions for Monday before chassis mounting begins.
* (This is not legal and the chassis will be rebuilt before competitions)
Colors identify member status:
Student
Alumnus
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