Difference between revisions of "Talk:DEWBOT VII Philadelphia Regional"
From DEW Robotics
MaiKangWei (talk | contribs) (→Switch from Pulley to Chain Drive) |
(how close is this to priority order? (or is it)) |
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===Switch from Pulley to Chain Drive=== | ===Switch from Pulley to Chain Drive=== | ||
:#Remove arm drive motor assembly from arm column | :#Remove arm drive motor assembly from arm column | ||
− | :#Unbolt arm angle | + | :#Unbolt arm angle sensor mount; remove arm sensor |
:#Remove elastic counterbalance | :#Remove elastic counterbalance | ||
:#Unbolt lower bar pillow blocks | :#Unbolt lower bar pillow blocks | ||
Line 11: | Line 11: | ||
:#Replace pulley with 42T sprocket/hub assembly; align key with keyway perpendicular to the ¼" mounting holes | :#Replace pulley with 42T sprocket/hub assembly; align key with keyway perpendicular to the ¼" mounting holes | ||
:#Insert lower bar axle back into pillow blocks | :#Insert lower bar axle back into pillow blocks | ||
− | :#Rebolt | + | :#Rebolt pillow blocks to columns |
:#Rebolt lower bar end to triangle | :#Rebolt lower bar end to triangle | ||
− | :#Restring elastic counterbalance; secure elastic using wire-ties out of the sprocket path | + | :#Restring elastic counterbalance (5? passes); secure elastic using wire-ties out of the sprocket path |
:#Remove arm drive motor from mounting plate & bearing block | :#Remove arm drive motor from mounting plate & bearing block | ||
:#Remove Remove 20T HTD5 pulley from arm drive gearbox shaft | :#Remove Remove 20T HTD5 pulley from arm drive gearbox shaft | ||
Line 26: | Line 26: | ||
:#Secure the 59-link chain around the 42T sprocket with a master link; master link clip facing away from the lower bar | :#Secure the 59-link chain around the 42T sprocket with a master link; master link clip facing away from the lower bar | ||
:#Pull down on Arm Motor assembly to tighten chain (rotating arm) | :#Pull down on Arm Motor assembly to tighten chain (rotating arm) | ||
− | + | :#Calibrate encoder | |
− | + | :#Check/set preset heights (floor, low, mid, high--is there/do we need a convenient way to do this in the pit?) | |
+ | :#Tune PID | ||
+ | :#Attach rear chain guard | ||
+ | :#C-clamp side chain guard, drill new hole & bolt on | ||
===Put on Competition Claw=== | ===Put on Competition Claw=== | ||
− | + | :#Unscrew jam nuts at linkages & unplug pneumatics | |
− | + | :#Screw in Competition Claw's jaw nuts at linkages & plug in pneumatics | |
− | + | :#Test floor height and wrist & jaw actuation. | |
− | + | :#Any time: put on longer start position Velcro. (But always take off the bungee cord before the match!) | |
− | |||
===Switch Compressors=== | ===Switch Compressors=== | ||
− | + | ''On standby pending Q&A'' | |
− | + | :#Unscrew compressor mount bars | |
− | + | :#Unplug pneumatic hose and remove compressor | |
− | + | :#Do we want a jig? | |
− | + | :#Drill new mount holes for bar that's shifting. --Do we need to tap those holes? | |
− | + | :#Screw in new bars with compressor & plug in pneumatic hose | |
===Turn around Minibot Deployment=== | ===Turn around Minibot Deployment=== | ||
− | + | :#Unscrew Bident & staff and pull out | |
− | + | :#Unscrew back plate (with cylinder). Ensure pneumatic hoses are labeled. | |
− | + | :#Unscrew Standoffs (keep rollers on them) | |
− | + | :#Put jig in place & drill new Standoff & back plate holes | |
− | + | :#Screw Standoffs & back plate in place. Ensure back plate is within frame perimeter. Ensure rear-most rollers are off-centered towards the robot front (as far from the Bident as possible, or it may go outside of the frame perimeter). | |
− | + | :#Screw the ''new'' Bident & staff into the cylinder. Ensure Bident is in frame perimeter. | |
− | |||
− | |||
− | |||
− | |||
===Mount Hangar=== | ===Mount Hangar=== | ||
− | + | :#Put on top edge clamp (4 bolts) | |
− | + | :#C-clamp bottom angle in place. Ensure Hangar is in frame perimeter. | |
− | + | :#Drill bottom angle mount holes in frame perimeter & bolt (3 bolts) | |
− | |||
===Install Torsion Brace=== | ===Install Torsion Brace=== | ||
− | + | :#Install top brace clamp (8 bolts) | |
− | + | :#C-clamp bottom plates in place & drill H holes in frame (4 total) | |
− | + | :#Bolt bottom plates in place (4 bolts) | |
===Mount Camera=== | ===Mount Camera=== | ||
− | + | :#Drill mount holes (2 holes, on reverse deployment jig) | |
− | + | :#Mount camera & plug in (wire tie wires) | |
− | + | :#Mount iron sight (needs jig) | |
− | + | :#Test/calibrate | |
+ | :#Remove old camera mount |
Revision as of 22:03, 28 March 2011
Contents
To Do List for Thursday
Add part locations (probably the spare parts box), hardware and tools, etc.
Switch from Pulley to Chain Drive
- Remove arm drive motor assembly from arm column
- Unbolt arm angle sensor mount; remove arm sensor
- Remove elastic counterbalance
- Unbolt lower bar pillow blocks
- Unbolt lower bar at triangle
- Remove lower bar
- Unbolt (2) ¼"-20 bolts securing 56T HTD5 pulley; remove pulley from lower bar
- Replace pulley with 42T sprocket/hub assembly; align key with keyway perpendicular to the ¼" mounting holes
- Insert lower bar axle back into pillow blocks
- Rebolt pillow blocks to columns
- Rebolt lower bar end to triangle
- Restring elastic counterbalance (5? passes); secure elastic using wire-ties out of the sprocket path
- Remove arm drive motor from mounting plate & bearing block
- Remove Remove 20T HTD5 pulley from arm drive gearbox shaft
- Install ½" ID x 0.32" PVC spacer on arm drive gearbox shaft
- Install 9T #35 sprocket (McMaster-Carr part # 6280K311 - bored thru to ½" with 1/8" keyway) with sprocket end towards the motor (hub end towards the shaft end); use a 3/32" key
- Install (1 or) 2 ½" Nylon Washers on the arm drive gearbox shaft outboard of the 9T sprocket
- Place the bearing block on the shaft end
- Drape the prepared 59-link #35 chain loosely on the 9T sprocket
- Bolt the arm drive motor/gearbox/bearing block assembly to the arm motor mount plate using (6) 10-32 x 0.50" FHCS
- Loosely secure the Arm Motor Mount to the column using (7) 10-32 x 2.00" FHCS & nylocks
- Support the lower bar parallel to grade (use a spirit gauge)
- Secure the 59-link chain around the 42T sprocket with a master link; master link clip facing away from the lower bar
- Pull down on Arm Motor assembly to tighten chain (rotating arm)
- Calibrate encoder
- Check/set preset heights (floor, low, mid, high--is there/do we need a convenient way to do this in the pit?)
- Tune PID
- Attach rear chain guard
- C-clamp side chain guard, drill new hole & bolt on
Put on Competition Claw
- Unscrew jam nuts at linkages & unplug pneumatics
- Screw in Competition Claw's jaw nuts at linkages & plug in pneumatics
- Test floor height and wrist & jaw actuation.
- Any time: put on longer start position Velcro. (But always take off the bungee cord before the match!)
Switch Compressors
On standby pending Q&A
- Unscrew compressor mount bars
- Unplug pneumatic hose and remove compressor
- Do we want a jig?
- Drill new mount holes for bar that's shifting. --Do we need to tap those holes?
- Screw in new bars with compressor & plug in pneumatic hose
Turn around Minibot Deployment
- Unscrew Bident & staff and pull out
- Unscrew back plate (with cylinder). Ensure pneumatic hoses are labeled.
- Unscrew Standoffs (keep rollers on them)
- Put jig in place & drill new Standoff & back plate holes
- Screw Standoffs & back plate in place. Ensure back plate is within frame perimeter. Ensure rear-most rollers are off-centered towards the robot front (as far from the Bident as possible, or it may go outside of the frame perimeter).
- Screw the new Bident & staff into the cylinder. Ensure Bident is in frame perimeter.
Mount Hangar
- Put on top edge clamp (4 bolts)
- C-clamp bottom angle in place. Ensure Hangar is in frame perimeter.
- Drill bottom angle mount holes in frame perimeter & bolt (3 bolts)
Install Torsion Brace
- Install top brace clamp (8 bolts)
- C-clamp bottom plates in place & drill H holes in frame (4 total)
- Bolt bottom plates in place (4 bolts)
Mount Camera
- Drill mount holes (2 holes, on reverse deployment jig)
- Mount camera & plug in (wire tie wires)
- Mount iron sight (needs jig)
- Test/calibrate
- Remove old camera mount