Let’s get the obvious out of the way. The tilting claw layout borrows heavily from 1114’s 2008 design. We knew it worked well for them (duh) and figured why go crazy reinventing that particular wheel…er claw. We happily borrow concepts from successful robots of yore.
Now with intentionally horribly-edited video!
https://www.youtube.com/watch?v=eegVXysXSjA (probably blocked on mobile and PC’s in most industrialized nations) - all of the practice field footage in this vid was from our Monday night practice session.
Here’s an uncut video of an extended battery-drainer run from the end of Monday’s practice - https://www.youtube.com/watch?v=kjrBeGeOCcU
6WD West Coast Layout, 2"x1"x1/8" aluminum welded base frame, 1"x1"x1/8" welded upper base
2 WCP 3-CIM WCD DS Shifters, 2.92 spread
Combination of 4" x 1.5" Colson wheels and custom 4" x 1.5" performance wheels with nitrile tread
Rack and Pinion-driven Linear Punch Mechanism - 1" igus aluminum rod supported by 2 igus 1" open-top pillow block plastic linear bearings. The open top permits the rack gear attached to the 1" rod to slide freely through the bearings.
Cocking mechanism is a custom Mini-CIM driven 106:1 gearbox with steel AndyMark gears. Output is a 56-T pinion gear with 17 teeth cut off. Provides between 6-7" of rack stroke before trip point is hit. No winch here!
Inductive proximity endpoint sensing using sensors from automationdirect.com.
Launching force provided by 2 Century Spring extension springs each with a 80 lb. load at max stretch.
Launching force can be varied between two settings via 2 1.5" bore cylinders that pre-stretch the springs an additional 3" in long shot mode.
Powered by a single 1.5" bore, 8" stroke pneumatic cylinder coupled to arm via a linkage. Provides 120 degrees of tilt motion. Multi-position capable. A semicircular plate on the tilt arm defines five different locking positions - straight up/home (90 degrees above horizontal), short truss pass/layup shot (60 deg), goal shot/long truss pass (38 deg), horizontal pass (0 deg), and ground load (-30 deg).
A separate lock cylinder mechanism driven by a 1-1/16" bore, 1" stroke cylinder controls the positioning with help from a Cherry AN8 Hall Effect analog angle sensor.
Kept it simple, 1114-style. Finger pivots via 2 2" stroke 3/4" bore cylinders. Roller claw is a BAG motor into a 10:1 VersaPlanetary. Claw Banebots wheels are polycord belt driven to provide clutch action. Bent and welded tubing forks on the bottom. Not pictured are aluminum winglets that will be added later shortly to assist with catching and stabilizing the ball during “active” shooting.
Diffuse photoelectric sensor from automationdirect.com serves as a ball detection means.
Will utilize an infrared retroreflective sensor to detect hot goal. Gyro and encoder sensors onboard for navigation.
Extremely reliable 1-ball auto with potential for a 2-ball.
Team 48 will be competing at Crossroads, Wisconsin, and Pittsburgh.