dewbot vi first thoughts
DESCRIPTION
Dewbot VI first thoughts. Hong Kong & in-transit 10-January-2010 Clem McKown. Essential Capabilities. Ability to climb 45°, 13” high “bumps” without capsizing – gotta get over the hump! – fast fast fast Need to get balls over the bumps or through the tunnels and into goals fast - PowerPoint PPT PresentationTRANSCRIPT
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Dewbot VI first thoughts
Hong Kong & in-transit 10-January-2010
Clem McKown
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Essential Capabilities Ability to climb 45°, 13” high “bumps”
without capsizing – gotta get over the hump! – fast fast fast
Need to get balls over the bumps or through the tunnels and into goals fast
Need to herd balls – fast That said, not sure the robot needs to
be particularly high speed – it needs to do its business without a lot of hesitation
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Scoring Scored Ball – 1 pt Elevated Robot – 2 pts Suspended Robot – 3 pts Less penalties
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Balls 3 start far; 2 mid; 1 near 8.75” typ diameter - ~1 lb All reentered balls reenter mid –
but are likely to role to far through tunnel Scoring tends to send balls to opposing
alliance side of field
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More Balls Balls cannot extend more than 3” inside
the frame perimeter Balls cannot be carried (must remain in
contact with floor) Only one ball at a time may be possessed
Possession means that if the robot spins in place or backs up, the ball stays with the robot
But several may be herded
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Elevated – 2 pts/robot Completely above the plane of the
platform and in contact with the tower
Platform is 20” off the floor Is a robot on the platform
“Elevated”?
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Suspended – 3 pts/robot A robot only in contact with an
elevated robot or a suspended robot
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Penalties - -1 pt each Handling balls before they are in
the Corral Not using Trident to return balls
(2x) Ball return timing Lots more!!
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Crossing the line Completely crossing the centerline
in autonomous will result in a penalty
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In the zone Only one alliance robot may be in
the opposing alliance’s zone
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Configuration (Envelope) 120 lb
Excludes battery & bumpers Normal – at the match start and during
normal play, the robot must stay within this envelope 28” x 38” 60” tall
Finale 84” diameter cylinder 90” tall
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Bumpers Bumper zone is 10-16” off the floor Bumpers must protect the entire frame
perimeter Must protect corners Must be backed by frame 6” minimum segment length Must be solid red or solid blue color –
bumper color will indicate alliance May be marked with Team # only 20 lb max (not included in robot wt)
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Extensions beyond frame perimeter Solely to interact with the ball, objects
below the bumper zone (10”) may extend out to the bumper perimeter for no more than 2 sec Cannot extend again for 2 sec thereafter
Robot can extend to Finale Configuration to right itself or alliance partner
Robot can extend to Finale Configuration during last 20s to Elevate or Suspend
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Autonomous 15 s Goal
If in mid or far field – herd/shoot balls into next nearer field
If in near field – score 1 ball
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Tunnel 36” wide x 18” tall A short robot could pass through
During normal play, there is no need for extensions above 18”
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The Hump Probably only able to cross hump driving in
long (x) axis (unless CG very low) 6wd will tilt 45° on climb and decline – with
a significant tipping moment on the decline 4wd will tilt less and reduce tipping
moment – as long as it does not bottom out Keep CG low and centered! Power & traction needed
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Pneumatics Max of 4 Clippard tanks allowed Solenoid valves may have a maximum
1/8” NPTF port size and 0.32 Cv Cylinders
Any number 24” maximum stroke 2” maximum diameter Any configuration
60 psig max working pressure
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Motors Allowable motors are
All KoP Motors Unlimited number of servos with 55 oz-in torque & 100 rpm
rotational speed Unlimited number of FTC servos A maximum of 3 additional (5 total) CIM motors
There are (4) Nisso-Denko motors (2 each L & R) in KoP – these have worm gear reduction – (4) couplers provided
2 Fisher Price -9015 motors (& plastic gearboxes) 1 Mabuchi motor RS555SH-2670 1 Mabuchi motor RS555VC-3754 No Globe motors
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Budget Limits $3,500 Robot limit KoP parts valued at $0 $400 max per component Individual fasteners <$1 ea are
excluded from this calculation “Recycled” parts valued at
undepreciated original value
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Herder Under-bumper herder/pusher/shooter should be
feasible Probably pneumatic push/shoot Prevent ball penetration under frame >3”
Use 3” sides to prevent ball loss Push balls over hump (with partial climb) or shoot
through tunnel or into goal 2 sec max extension Best if full frame width… Better if wide orientation
Herd more balls Herd balls easier Corresponds to tunnel & goal width
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Ideas Keep robot low in normal configuration
Low CG – tip-proof (like DEWBOT V) Fit through tunnel?
4wd to moderate tipping angles and moment
Pivot or wide 4wd to enable wide herding & shooting (need to manage tipping potential)
If Pivot, Snake & Automobile modes seem more useful than Crab
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Ideas Tilt-a-frame to climb onto Platform
Driven wheels
Undriven tilt lift
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Ideas Shooter / pusher / herder device Same shooter / pusher / herder idea on
2 axis w/ pivot drive For short side (x-drive), could be almost
28” wide if front wheels are shifted aft For long side (y-drive), would need to be
inset for drive wheels (because you probably could not sacrifice the wheelbase here) – so maybe same effective width as short side
x pusher y pusher
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Ideas Low-velocity, wide, un-aimed
shooter / pusher at one end of robot
High-velocity, focused, aimed kicker at the other end
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Ideas Non-overlapping “wings” folded on
top of robot to act as “righters” should the robot overturn.
These could also provide hanging or lifting points for suspension