Difference between revisions of "Talk:DEWBOT VII Philadelphia Regional"
From DEW Robotics
(→Switch Compressors) |
(→Check pivots) |
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:#Remove old camera mount | :#Remove old camera mount | ||
===Check pivots=== | ===Check pivots=== | ||
− | :#Check nylock nuts for nylon engagement. If they do not engage the nylon, remove and | + | :#Check nylock nuts for nylon engagement. If they do not engage the nylon, remove and loctite. |
− | :# | + | :#Fix broken/disengaged shaft collar. Check other collars for engagement on the shaft and tightness. Add plastic spacers (same as Duex) and wire tie. |
− | :# Check sensor stand offs. Are they bent or showing signs of damage? | + | :#Check pulleys. Raise if necessary, add spacers and wire tie. |
− | :#Check treads. Make decision when to change. | + | :#Check chain & belt tightness and wheel turning. Loosen CIM if drive is too stiff. |
− | :#Modify chain guard to fit with | + | :#Check sensor stand offs. Are they bent or showing signs of damage? |
+ | :#Check treads. Make decision when to change. Check for bolt stripping throughout and determine how long change would take. | ||
+ | :#Modify chain guard to fit with hangar. | ||
+ | :#Test (Optional: color/tape 1 triangle on black pulleys for visual confirmation) | ||
+ | |||
===Test Fangers=== | ===Test Fangers=== | ||
:#After set of fangers pass inspection, test each one manually on the field poles. Make any fine tuning adjustments. Rank fangers for performance. | :#After set of fangers pass inspection, test each one manually on the field poles. Make any fine tuning adjustments. Rank fangers for performance. | ||
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[[Category:Events]][[Category:Robot]][[Category:DEWBOT VII]] | [[Category:Events]][[Category:Robot]][[Category:DEWBOT VII]] |
Revision as of 20:53, 29 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, cutting the belt
- 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
- 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 to take out slack on both sides)
- Remount arm sensor mount
- Support the lower bar parallel to grade (use a spirit gauge)
- Reinstall & Calibrate encoder
- Check/set preset heights (floor, low, mid, high--HOW?)
- 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
Suggest we pre-mount the compressor on new cross-bars at DRC. In mounting this to the robot, use one set of existing holes; use the holes in the mount bar as a template for drilling the two new holes needed. - Clem
That was my plan (hence "new bars with compressor"), but I don't know how rigid the orientation is. I remember with the Thomas's old standoffs, squaring the mounting was kind of annoying. Looking at the diagrams we should be fine, but if it's in Saturday I'll try it. - Siri
- Unscrew compressor mount bars
- Unplug pneumatic hose, disconnect wires and remove compressor
- Bolt in new front/rear mount bar (with compressor attached) and clamp rear/front bar in place. (I'll pick which when I finish CADing the new assembly (pending GDC cutting us a break) - Siri)
- Drill (2) new mount holes for bar that's shifting. (Do we need to tap those holes? - Siri) (Are existing holes tapped? - Clem) (I'll check Saturday - Siri)
- Screw in new bars with compressor & plug in pneumatic hose & connect wires (Do the wires disconnect compressor-side on both and/or do you know how to do this? - Siri)
- Test
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
Check pivots
- Check nylock nuts for nylon engagement. If they do not engage the nylon, remove and loctite.
- Fix broken/disengaged shaft collar. Check other collars for engagement on the shaft and tightness. Add plastic spacers (same as Duex) and wire tie.
- Check pulleys. Raise if necessary, add spacers and wire tie.
- Check chain & belt tightness and wheel turning. Loosen CIM if drive is too stiff.
- Check sensor stand offs. Are they bent or showing signs of damage?
- Check treads. Make decision when to change. Check for bolt stripping throughout and determine how long change would take.
- Modify chain guard to fit with hangar.
- Test (Optional: color/tape 1 triangle on black pulleys for visual confirmation)
Test Fangers
- After set of fangers pass inspection, test each one manually on the field poles. Make any fine tuning adjustments. Rank fangers for performance.