Team 3512 is proud to release the official CAD for our 2022 Robot:
Daedalus
GrabCAD Link for STEP & Native SolidWorks Files
Design Goals and Constraints
- Standard 0.5in hole pattern on all faces on all tubes where possible
- Thinner wall tubing (0.0625in) where possible besides drivetrain
- Use of 3D printed crush blocks when bolting through thinner wall tube
- Box tubing + gusset riveted construction or parallel plate + standoff construction for most subsystems
- Subsystems to be bolted to drivetrain chassis for easy assembly & disassembly
- Standardize on #10-32 bolts, 5/32 rivets
- Oil embedded bushings + shoulder bolts for pivot joints
- All subsystems powered with NEO, NEO 550, pneumatics, or springs
- Single stage belted reduction directly off motor shaft for most gearboxes
- 3D printed hex pulleys, hex spacers, bolted standoffs under 3in long, crush blocks, sensor + electronic mounts
- Thunderhex for rotational shaft, churro for standoffs over 3in long.
- Shafts retained with 1/4-20 screws + washers
Subsystem Overview:
Drivetrain Gearbox
- Compact single speed flipped NEO gearbox based on WCD Design
- Powered by 2x NEOs geared 9.31:1
- 15.96ft/sec free speed
Drivetrain Chassis
- 6 Wheel WCD
- 4x 6in Corner Omni wheels for increased maneuverability
- 2x 6in WCP Traction wheels w/ 1/16in center drop
- Back mounted drivetrain gearbox
- 0.125in 2x1 alum. tube + gusset construction
- Upper 0.125in 1x1 alum. tube bumper frame
- Allows for additional mounting options for other subsystems
Intake
- 3 Roller over the bumper design
- 2in TTB squish wheel bottom roller helps with bouncing cargo balls
- Middle and back WCP versarollers w/ rubber sleeves
- 0.25in Polycarbonate and churro parallel plate construction is resilient to hits
- Powered by 1x NEO geared 3:2 w/ timing belts
- Oil embedded bushing + 0.375in shoulder bolts on pivot joints
- 0.75 Bore x 1.5in stroke pneumatic cylinders for extend & retract
- Cylinder is retracted when intake is extended for protection
- Designed to be as wide as chassis allows
- 1in Cargo ball compression
Funnel + Conveyor
-
Funnel
- Funnels balls from intake to conveyor in conjunction with Conveyor 1st stage
- 0.125 Alum. plate base, 0.25in polycarbonate sides, churro, and zip tie construction
- Attached via velcro to chassis crossmembers
- Removable to access compressor
-
2 Stage Conveyor
- Stores and conveys 2 cargo balls
- 0.0625in 1x1 alum. tube + gusset construction w/ 0.25in polycarbonate back plate
- Each stage powered by 1x NEO geared 3:2 w/ timing belts
- 1st Stage
- 3in Compliant wheels index cargo balls into conveyor in conjunction with funnel
- 2nd Stage
- Timing belts convey balls up to shooter
- Top and bottom Adafruit beam break sensors for ball queuing
- 1in Cargo ball compression
Shooter
- Fires cargo balls into top and bottom goals
- Fixed hooded design w/ 0.125in alum. + churro parallel plate construction
- Front and back wheels powered by 2x NEOs geared 1:1 w/ timing belts
- 1x 4in Fairlane main wheel in front
- 2x 4in Fairlane accelerator wheels in back
- prevents backspin
- AMT 103v external encoders
- 2in Cargo ball compression
Climber
- 15 second traversal climb
- Pivoting single stage ThriftyBot telescoping climber arms
- Passive sprung hooks
- Powered by 2x NEOs through 12:1 MAXPlanetary gearboxes
- 1.0625in x 6in stroke pneumatic cylinders pivot telescoping arms
- 1.25in O.D. alum. tubes + oil embedded bushings for sturdy climber pivots
- REV magnetic limit switch for upper and lower extension limits