Difference between revisions of "DEWBOT V"
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:A novel [[7th Wheel]] is provided at the center-rear of the chassis, driven independently via a direct Globe Motor. The 7th Wheel is beneficial for 1) rotating (spinning) the robot in-place; and 2) braking. The 7th Wheel is oriented perpendicular to the 6wd and may be engaged or disengaged by the Pilot/Driver. When disengaged (default), the 7th Wheel is raised off the playing surface and the robot drives in 6wd Tank mode using dual joysticks. When the Pilot/Driver holds down the trigger on either drive joystick, the 7th Wheel is lowered via a pneumatic cylinder to contact the playing surface. This also takes weight off the (4) wheel 6wd wheels so that the robot is able to pivot rapidly on (3) wheels, Front Left, Front Right and 7th. When engaged, the (3) drives are controlled in Arcade mode using the triggered joystick. Releasing the trigger returns the 7th Wheel to its default raised and inactive position (and the driver joysticks to 2-joystick Tank mode). | :A novel [[7th Wheel]] is provided at the center-rear of the chassis, driven independently via a direct Globe Motor. The 7th Wheel is beneficial for 1) rotating (spinning) the robot in-place; and 2) braking. The 7th Wheel is oriented perpendicular to the 6wd and may be engaged or disengaged by the Pilot/Driver. When disengaged (default), the 7th Wheel is raised off the playing surface and the robot drives in 6wd Tank mode using dual joysticks. When the Pilot/Driver holds down the trigger on either drive joystick, the 7th Wheel is lowered via a pneumatic cylinder to contact the playing surface. This also takes weight off the (4) wheel 6wd wheels so that the robot is able to pivot rapidly on (3) wheels, Front Left, Front Right and 7th. When engaged, the (3) drives are controlled in Arcade mode using the triggered joystick. Releasing the trigger returns the 7th Wheel to its default raised and inactive position (and the driver joysticks to 2-joystick Tank mode). | ||
| − | ;[[DEWBOT V Mechanical| Ball Handling, Shooter]]: ''This is how we score.'' Dewbot V picks up ''Moon Rocks'' using a '''Beater Bar'' | + | ;[[DEWBOT V Mechanical| Ball Handling, Shooter]]:''This is how we score.'' Dewbot V picks up ''Moon Rocks'' using a '''Beater Bar''', transfers these to a helical '''Hopper'''. A central '''Spindle''' drives the ''Moon Rocks'' up the '''Hopper''' to the '''Shooter'''. The whole '''Hopper''' assembly traverses to aim the '''Shooter'''. |
| − | ;[[DEWBOT V Payload Specialist|''Payload Specialists'']] | + | ;[[DEWBOT V Payload Specialist|''Payload Specialists'']]:Lunacy provides an huge opportunity for Human Players (a.k.a. ''Payload Specialists'') to score directly...''and to score big!'' |
;[[DEWBOT V Programming | Programming]]: Use of the vision system allows for computer assisted shooting. A HeadsUP LED display allows the operator to understand the current state and take action without taking their attention away from the field. The “7th” wheel control is incorporated into the robot drive controls to allow the driver to effectively use it for turning. Computer assistance in traction and hopper positioning allow the drive / operator team to focus on game play. | ;[[DEWBOT V Programming | Programming]]: Use of the vision system allows for computer assisted shooting. A HeadsUP LED display allows the operator to understand the current state and take action without taking their attention away from the field. The “7th” wheel control is incorporated into the robot drive controls to allow the driver to effectively use it for turning. Computer assistance in traction and hopper positioning allow the drive / operator team to focus on game play. | ||
Revision as of 02:10, 17 June 2009
The 2009 game Lunacy was a departure from the prior games and created some challenges for DEWBOT V.
A 6-Wheel Drive (6wd) wide chassis is employed with left and right drives. Each drive is powered by (1) CIM motor via a custom gearbox. A novel 7th Wheel provides the Pilot/Driver with dual driving modes. 6wd is the default mode. When selected by the Pilot, however, the 7th Wheel is engaged, allowing the robot to pivot rapidly on 3 wheels. This drive-train provides excellent agility and control on the low-friction Lunacy playing surface.
Dewbot V picks up Moon Rocks using a beater bar with curved back-plate and delivers these into a spiral Hopper for storage. Up to 14 Moon Rocks may be stored.
The beater bar can also be used to transfer Empty Cells to the Airlocks.
A pneumatic Shooter is installed at the top of the Hopper. A Camera on the Hopper top provides target recognition and tracking. The entire Hopper/Shooter/Camera system is able to traverse 270° to shoot Moon Rocks into opposing trailers. The traverse may either be controlled by the Pilot/Operator or by the Vision System.
This robot provides Team 1640 with a number of firsts:
- first student-welded robot
- first custom gearbox
- first 6wd drivetrain
- use of a number of new materials
- use of adhesives for critical joints
- employed (10) jigs, forms and mandrels to facilitate construction
- DEWBOT V Build
- season is detailed here.
Design Details
The links below will take you to details about the robot components.
- Dewbot V possesses an awesome drive-train. Both agile and powerful. It's hard to score on us. We can push most opponents around. We play great defense. This is a true driver's robot. More agile than stable.
- A 6 Wheel Drive (6wd) drive-train with the chassis oriented wide was selected for this year’s robot on the basis of providing superior maneuverability on a low-friction surface.
- Wheelbase is 20.25” (long) x 33.25” (wide). Center of Mass (for the Robot) is about 9” above the Playing Surface and about 2” aft of chassis center.
- Drive-train is Tank, with independent Left and Right drives. For each side, Middle wheels are direct-driven by custom gearboxes. Front and Rear wheels are slave-driven from the middle wheels via independent chains, minimizing the impact should the robot lose a chain.
- Direct-drive gearboxes are based on AndyMark Shiftboxes modified to: 1) add an additional axle and reduction for direct drive; and 2) disable the shift mechanism (unnecessary for Lunacy). (1) CIM motor is used per drive. Overall reduction ratio (CIM to Wheel) is 24:1, providing a maximum speed of 5.9 ft/s and more than adequate torque for turning.
- A novel 7th Wheel is provided at the center-rear of the chassis, driven independently via a direct Globe Motor. The 7th Wheel is beneficial for 1) rotating (spinning) the robot in-place; and 2) braking. The 7th Wheel is oriented perpendicular to the 6wd and may be engaged or disengaged by the Pilot/Driver. When disengaged (default), the 7th Wheel is raised off the playing surface and the robot drives in 6wd Tank mode using dual joysticks. When the Pilot/Driver holds down the trigger on either drive joystick, the 7th Wheel is lowered via a pneumatic cylinder to contact the playing surface. This also takes weight off the (4) wheel 6wd wheels so that the robot is able to pivot rapidly on (3) wheels, Front Left, Front Right and 7th. When engaged, the (3) drives are controlled in Arcade mode using the triggered joystick. Releasing the trigger returns the 7th Wheel to its default raised and inactive position (and the driver joysticks to 2-joystick Tank mode).
- Ball Handling, Shooter
- This is how we score. Dewbot V picks up Moon Rocks using a Beater Bar, transfers these to a helical Hopper. A central Spindle drives the Moon Rocks up the Hopper to the Shooter. The whole Hopper assembly traverses to aim the Shooter.
- Payload Specialists
- Lunacy provides an huge opportunity for Human Players (a.k.a. Payload Specialists) to score directly...and to score big!
- Programming
- Use of the vision system allows for computer assisted shooting. A HeadsUP LED display allows the operator to understand the current state and take action without taking their attention away from the field. The “7th” wheel control is incorporated into the robot drive controls to allow the driver to effectively use it for turning. Computer assistance in traction and hopper positioning allow the drive / operator team to focus on game play.
- Electrical
- The low profile of the base and the open helix hopper design did not leave a lot of room for the cRio, Jaguar motor drivers, the battery, air compressor, power distribution board, etc.
- Pneumatics
- Autonomous Mode
Autonomous mode was designed to make Dewbot V a difficult target for Payload Specialists during the autonomous period. To allow us some flexibility in autonomous mode, and also to prevent us from being too predictable, any one of (6) autonomous programs may be selected prior to the start of a match. The autonomous program is set via two switches on the robot:
- switch 1
- straight
- wide turn
- sharp turn
- switch 2
- left
- right
- Weight
Robot weight was managed very carefully this year. A detailed Bill-of-Materials was maintained in real-time as part of the design effort. This BoM included weights and costs of all parts on the robot. We finished with pounds to spare. No features were sacrificed for weight savings. No last minute holes were drilled.
Events
DEWBOT V attended a number of events in 2009. The links below will take you to the details of each event.
- Chesapeake Regional
- was the only official event we went to. We did fairly well in the preliminary matches. We received the Rockwell Automation's Innovation in Control Award for our 6+1=3 drive system and the corresponding control and heads up display system.
- PARC XII
- was our first off season event. There were fifteen teams present. We got picked by the number one alliance and went on to win the event.
- Monty Madness
- was the week after PARC XII.
- Bridgewater Battle
- on 6-June. Team 1640 placed 3rd out of 18 teams in the qualifying matches.
People
There are a large number of people that were involved with the success of DEWBOT V from students to mentors but especially our sponsors.
See our other robots at FRC Team 1640
