Difference between revisions of "Talk:DEWBOT VII Philadelphia Regional"

Revision as of 04:40, 29 March 2011

To Do List for Thursday

Add part locations (probably the spare parts box), hardware and tools, etc.

Switch from Pulley to Chain Drive

1. Remove arm drive motor assembly from arm column, cutting the belt
2. Unbolt arm angle sensor mount; remove arm sensor
3. Remove elastic counterbalance
4. Unbolt lower bar pillow blocks
5. Unbolt lower bar at triangle
6. Remove lower bar
7. Unbolt (2) ¼"-20 bolts securing 56T HTD5 pulley; remove pulley from lower bar
8. Replace pulley with 42T sprocket/hub assembly; align key with keyway perpendicular to the ¼" mounting holes
9. Insert lower bar axle back into pillow blocks
10. Rebolt pillow blocks to columns
11. Rebolt lower bar end to triangle
12. Restring elastic counterbalance (5 passes); secure elastic using wire-ties out of the sprocket path
13. Remove arm drive motor from mounting plate & bearing block
14. Remove Remove 20T HTD5 pulley from arm drive gearbox shaft
15. Install ½" ID x 0.32" PVC spacer on arm drive gearbox shaft
16. 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
17. Install (1 or) 2 ½" Nylon Washers on the arm drive gearbox shaft outboard of the 9T sprocket
18. Place the bearing block on the shaft end
19. Drape the prepared 59-link #35 chain loosely on the 9T sprocket
20. Bolt the arm drive motor/gearbox/bearing block assembly to the arm motor mount plate using (6) 10-32 x 0.50" FHCS
21. Loosely secure the Arm Motor Mount to the column using (7) 10-32 x 2.00" FHCS & nylocks
22. Secure the 59-link chain around the 42T sprocket with a master link; master link clip facing away from the lower bar
23. Pull down on Arm Motor assembly to tighten chain (rotating arm to take out slack on both sides)
24. Remount arm sensor mount
25. Support the lower bar parallel to grade (use a spirit gauge)
26. Reinstall & Calibrate encoder
27. Check/set preset heights (floor, low, mid, high--HOW?)
28. Tune PID
29. Attach rear chain guard
30. C-clamp side chain guard, drill new hole & bolt on

Put on Competition Claw

1. Unscrew jam nuts at linkages & unplug pneumatics
2. Screw in Competition Claw's jaw nuts at linkages & plug in pneumatics
3. Test floor height and wrist & jaw actuation.
4. 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

1. Unscrew compressor mount bars
2. Unplug pneumatic hose and remove compressor
3. Do we want a jig?
4. Drill new mount holes for bar that's shifting. --Do we need to tap those holes?
5. Screw in new bars with compressor & plug in pneumatic hose

Turn around Minibot Deployment

1. Unscrew Bident & staff and pull out
2. Unscrew back plate (with cylinder). Ensure pneumatic hoses are labeled.
3. Unscrew Standoffs (keep rollers on them)
4. Put jig in place & drill new Standoff & back plate holes
5. 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).
6. Screw the new Bident & staff into the cylinder. Ensure Bident is in frame perimeter.

Mount Hangar

1. Put on top edge clamp (4 bolts)
2. C-clamp bottom angle in place. Ensure Hangar is in frame perimeter.
3. Drill bottom angle mount holes in frame perimeter & bolt (3 bolts)

Install Torsion Brace

1. Install top brace clamp (8 bolts)
2. C-clamp bottom plates in place & drill H holes in frame (4 total)
3. Bolt bottom plates in place (4 bolts)

Mount Camera

1. Drill mount holes (2 holes, on reverse deployment jig)
2. Mount camera & plug in (wire tie wires)
3. Mount iron sight (needs jig)
4. Test/calibrate
5. Remove old camera mount

Check pivots

1. Check nylock nuts for nylon engagement. If they do not engage the nylon, remove and locktite.
2. Check shaft collar for engagement on the shaft and tightness. Add plastic spacers. Is the tubing we used on Deuce good enough?
3. Check sensor stand offs. Are they bent or showing signs of damage?
4. Check treads. Make decision when to change.
5. Modify chain guard to fit with hanger.

Test Fangers

1. After set of fangers pass inspection, test each one manually on the field poles. Make any fine tuning adjustments. Rank fangers for performance.