Talk:DEWBOT VII Philadelphia Regional
From DEW Robotics
Revision as of 19:34, 28 March 2011 by MaiKangWei (talk | contribs) (→Switch from Pulley to Chain Drive)
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 senor 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 pllow blocks to columns
- Rebolt lower bar end to triangle
- Restring elastic counterbalance; 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 PID & check presets
- Mount chain guards
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
- Note: but always take off the bungee cord before the match!
Switch Compressors
- 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 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
Install Torsion Brace
- Install top brace clamp (8 bolts)
- C-clamp bottom plates in place & drill H holes in frame
- Bolt bottom plates in place (4 bolts)
Mount Camera
- Drill mount holes (should be make a jig?)
- Mount camera
- Mount iron sight
- Test/calibrate