Difference between revisions of "DEWBOT XVII Climber"
MaiKangWei (talk | contribs) (→Climbing Sequence) |
MaiKangWei (talk | contribs) (→Climbing Sequence) |
||
| Line 17: | Line 17: | ||
image:DB17_Climber-8.jpg|Climbing Arm starts retracting - Hooks onto HIGH RUNG - Starts to pull the Static Hooks off of the MID RUNG | image:DB17_Climber-8.jpg|Climbing Arm starts retracting - Hooks onto HIGH RUNG - Starts to pull the Static Hooks off of the MID RUNG | ||
image:DB17_Climber-9.jpg|Climbing Arm retracts further - Static Hooks pull off the MID RUNG - DEWBOT swings forward (''exciting!'') | image:DB17_Climber-9.jpg|Climbing Arm retracts further - Static Hooks pull off the MID RUNG - DEWBOT swings forward (''exciting!'') | ||
| − | image:DB17_Climber-10.jpg| | + | image:DB17_Climber-10.jpg|Climbing Arm continues to retract - Static Hooks compressed by HIGH RUNG |
| − | image:DB17_Climber-11.jpg| | + | image:DB17_Climber-11.jpg|Climbing Arm fully retracted - Static Hooks return to normal position |
| − | image:DB17_Climber-12.jpg| | + | image:DB17_Climber-12.jpg|Climbing Arm extends - HIGH RUNG transferred to the Static Hooks |
| − | image:DB17_Climber-13.jpg| | + | image:DB17_Climber-13.jpg|Climbing Arm rotates 20° forward and extends fully |
| − | image:DB17_Climber-14.jpg| | + | image:DB17_Climber-14.jpg|Climbing Arm rotates back to contact the TRANSVERSE RUNG |
| − | image:DB17_Climber-15.jpg| | + | image:DB17_Climber-15.jpg|Climbing Arm starts retracting - Hooks onto TRANSVERSE RUNG - Starts to pull the Static Hooks off of the HIGH RUNG |
| − | image:DB17_Climber-16.jpg| | + | image:DB17_Climber-16.jpg|Climbing Arm retraction pulls Static Hooks off of the HIGH RUNG - DEWBOT swings forward maybe slamming into the Driver Station window - Climb complete |
</gallery> | </gallery> | ||
---- | ---- | ||
[[Category:DEWBOT XVII]][[Category:Engineering]] | [[Category:DEWBOT XVII]][[Category:Engineering]] | ||
Revision as of 17:31, 25 February 2022
DEWBOT VII utilizes a 3-hook climber system allowing the robot to climb up to the TRANSVERSAL RUNG of the HANGER during end game. The Center hook arm (the Climbing Hook Arm) extends and articulates between vertical and 20° forward of vertical. The Climbing Hook Arm is modeled on a 2-stage Thrifty Bot Telescoping Tube kit. Constant force springs provide the extension force for the arm, while a Gearbox Winch controls the extension and retraction. A pair of pneumatic cylinders control the Climbing Arm angle articulation.
A pair of Static Hook Posts flank the Climbing Hook Arm. These Posts do not articulate, but the Static Hooks which terminate them do rotate and are spring loaded to allow the Climbing Hook to bring each RUNG to a point below the Static Hooks, then extend to transfer the RUNG from the Climbing Hook to the Static Hooks.
The Climber Gearbox employs four (4) NEO motors and 20:1 reduction to allow the robot to climb vertically at a speed of about 12 inches/s. A dog-based lock allows the Gearbox to be locked into position, both to prevent inadvertent Climber Arm extension and back-driving during climbing.
Climbing Sequence
Positioned ready to climb
Climbing Arm extended & touching MID RUNG
Climbing Arm retracted - Static Hooks compressed by MID RUNG
Climbing Arm fully retracted - Static Hooks return to normal position
Climbing Arm extends - MID RUNG transferred to the Static Hooks
Climbing Arm rotates 20° forward and extends fully
Climbing Arm rotates back to contact the HIGH RUNG
Climbing Arm starts retracting - Hooks onto HIGH RUNG - Starts to pull the Static Hooks off of the MID RUNG
Climbing Arm retracts further - Static Hooks pull off the MID RUNG - DEWBOT swings forward (exciting!)
Climbing Arm continues to retract - Static Hooks compressed by HIGH RUNG
Climbing Arm fully retracted - Static Hooks return to normal position
Climbing Arm extends - HIGH RUNG transferred to the Static Hooks
Climbing Arm rotates 20° forward and extends fully
Climbing Arm rotates back to contact the TRANSVERSE RUNG
Climbing Arm starts retracting - Hooks onto TRANSVERSE RUNG - Starts to pull the Static Hooks off of the HIGH RUNG
Climbing Arm retraction pulls Static Hooks off of the HIGH RUNG - DEWBOT swings forward maybe slamming into the Driver Station window - Climb complete
