ItapêRobotaRobot Design Executive Summary (RDES)

ItapêRobota Brazil

We are the SESI

ItapêRobota’s team, number

4041, from Brazil. We worked

hard and also, had a lot of fun

to get here. It’s an honor and

a dream coming true to

participate of this Open

European Championship.

We like too much making

noise and music and these

bring us happy and this way,

we are always animated. Our

highlights characteristics are

animation, energy and the

desire to accomplish our

goals.

Get to know better our great

spirited team that loves what

do and follows the FIRST®

values.

QUILTING

WOOD WORKING

STOVE

MEDICINE

BOWLING

SERVICE ANIMALS

WHERE TO GO ???

HOW TO START ???

S

TRATEGY

DESIGN P

RO

CE

SS

FUN

ROBOT F

AC

TS

INN

OV

ATION P

RO

GR

A

MMING

ME

ET

BR

AZIL

ME

CH

AN

ICA

L D

ESIGN

Robot Facts

We’ve used three light sensors strategically positioned, enabling it follows, align

or stop on black or green lines in different places on mat and one color sensor

to find the green medicine.

There are two kind s of drivetrain s in the robot: one of them is the

movement through the motors B and C to the rear wheels enabling the rear

drive, while the other is the movement through the motor A to attachments with

a reduction on attachment motor with gears, making it has more power t o

support the attachments.

Besides this, our robot has 13 attachments and approximately, XXX pieces and

all robot programming, is carried out by LEGO Mindstorms NXT v2.0.f4

programming.

To execute all missions, the NXT carries just

five programs to each group of missions:

1st Mission – Dog Size: 11, 4 KB;

2nd

Mission – Bowling Size: 28, 9 KB;

3rd

Mission – Plant Size: 15, 0 KB;

4th Mission – Ball Size: 7, 2 KB;

5th Mission – Platform Size: 7, 0 KB.

FUN

The funniest part of robot Project can be considered

the moment that the drivers put robot on practice, because

beyond we stay in expectation of a possible strike , each

of us give an opinion about how many pins will be knocked

and we pay attention when the ball will be ejected from the

Ball Game.

However, the most challenging parts are the construction and programming that we have to

analyze strategies and mechanisms that execute something safe and reliable.

The robot is called Robotinha, whose name was chose by the constructor when playing with

our team’s name ItapeRobota making the robot become called by the diminutive of Robota.

Sometimes we think that Robotinha has feelings, because when someone is upset with him,

he doesn’t execute what used to do, but when someone encourages him, he does all the things

right.

STRATEGY

After studying the best missions group that could spend less time through several

kinds of paths, we defined what ways the robot would perform on mat and then, we

started the build of attachments abl e to determined tasks. Thus , we tried balance two

aspects when performing a mission due the time and often that it happens: speed and

accuracy, because with a high speed, the accuracy will be smaller and vice -versa.

Therefore, we keep a good frequency of success when executing missions.

Our fav orite m ission, no doubt , is the Bowling, because we make six missions

with just one program and because we use light and color sensors, several ki nds of

resources like to find or to follow a line and align to wall and a different mechanism: the

pneumatic that lifts the lever of Strength Exercise.

DESIGN PROCESS

At beginning , we defined what wheel the robot could have through its

size balancing accuracy with speed. Therefore, we chose a wheel that has 4, 75

cm of radius and regulating the power’ motors , the robot becomes fast and

accurate bringing us, at moments like base returning, speed and time. Soon, we

defined the motors position to start build the chassis, because depending on the

position of them, they could have more entrances to beams and connectors

enabling strong rigidity in base and soon, we calculated the distance between

rear wheels and we’ve defined as a NXT in horizontal position to give better

accuracy on curves.

After this, we’ve started the build of robot’s coverage prioritizing the

rectangular shape to align on table walls and a long armor to protect light

sensors from ambient luminosity. Then, we built the structure to fix the

attachment’s motor and in it, we made a reduction with gears to have higher

torque (angular power of motor) and we put the light sensors and the NXT in a

position to facilitate view and program changing and also assist in practice of

battery changing.

Since the first stage to now, we’ve already participated of three selective

tournaments and our robot’ attachments (mainly the Transitions’ attachment)

and strategies have changed. A t the first tournament, we don´t used to do the

Medicine and Animals Service’ missions and the Transitions’ attachment was a

green ramp.

At the next tournament, we started to do the Animals Service mission,

but we didn’t do the Medicine mission and we did n’t put the chair under table.

Besides this, the Transitions’ attachment was a structure with white wheels that

elevated the robot to drive up the ramp.

After this tournament, we did all missions (but we just spin the

Cardiovascular Exercise roulette one time, like in the others tournaments) and

created an enormous structure to do the Video Call (TV), Quilting and Animals

Service missions at one time and another to do the Ball Game at the finally

seconds and the Transitions’ attachment becomes a inclined green platform

with robot on top. And now, we a lso do these missions, but the Strength

Exercise and Transitions’ attachments have changed. The first one, becomes a

structure made with pneumatic system and the other, a straight red and black

platform.

All the members’ team collaborated to the robot’s o r attachment’s build through

ideas projected as drawings or writings or trying build on practice with

imagination.

MECHANICAL DESIGN

The robot has a very well fixed and rigid chassis allowing to support the

rest of the structure. Besides this, the robot armor blocks up some movements

that can shake the structure due the cross shape.

Beams protect the robot and let it more robust. With this, we planned the

robot to be symmetrical ( vertically, both sides have the same weight to don’t

have unbalance and future problems with attachments weight ), compact, stable

and robust.

To have a better times economy in attachments changing, we’ve made

that the fixing structure of them become practice using then just the gravity

power through the attachments weight with crossed axles, but not fixed, to the

beams perforation to the moment to put or remove, it slides to enter or go out

with a better efficiency.

The rear drive motors are linked directly to wheels and t he axis of them,

are supported by the robot’s coverage to don’t bend and thus, modifying robot’s

path and locomotion.

We’ve used different kind of attachments

1st Mission/Name: Dog/Missions: Video Call (TV),

Quilting and Ser vice Animals./Score: 130

points/Attachments: We built an enormous structure to

execute all these missions at one time in approximately 10

seconds with some mechanisms like elastic string, lever

(inverse power – power exercised to down to another part

of the mechanism gets up) and properly activity, in other

words, it’s not necessary motorization.

and mechanisms to each mission:

3rd Mission/Name: Plant/Missions: Gardening, Stove, Similarity Recognition and

Cooperation and Wood Working (Take the chair)./Score: 110 points/Attachments: It’s not a

coincidence that the group of these attachments is called by Humble. The design is simple:

motorized mechanisms and a device that is ejected during the execution.

2nd Mission/Name: Bowling/Missions: Strength Exercise, Bowling, Flexibility, Video Call

(Computer), Cardiovascular Exercise (3 -1) and Medicine./Score: 175 points/ Attachments: We

use four independent attachments to execute six missions i n approximately one minute.

Therefore, there are several kind of attachments design: one of them contains pneumatic, others

contains elastic string mechanism and multifunctions.

4th Mission/Name: Ball/Missions: Take a ramp with a

little car to active the Ball Game (Future Effects Of Our

Current Decisions)./Attachments: The Mega Ramp is simply a

ramp that carries a car that will be released on 5 th Mission

through an inverse power trig ger, ejecting a ball from the rack

of the Ball Game. The robot execute this mission in

approximately 15 seconds.

mission 4th

5th Mission/Name: Platform/Missions: Active the device to do the Ball Game (Future

Effects Of Our Current Decisions), Transitions and Wood Work ing (Let the chair under

table)./Score: 150 points/Attachments: The kind of mechanism utilized was Main on Top, in

other words, the robot stay on this attachment driving to the opposite direction that the

attachment moves like two engaged gears. Beside thi s, we’ve used an independent

attachment to release the trigger of the mission before. All this mission has, approximately,

15 seconds to finish.

mission 5th

PROGRAMMING

Therefore, to have precision, during the

programing execution, the robot align to wall or through

light sensors that captures light intensity on mat lines

making the robot stop or follow it.

We use the My Blocks (programming blocks compacted being variable or

constant) constituting all mission programs that the robot execute.

To a better browsing and identifying through the programming area,

we’ve used legends to say what is happening at the moment to facil itate

searching and correcting of error and this way, increasing the productivity.

INOVATION

We like to much and we are proud when the car

from Mega Ramp is release d on miss ion’s following,

because beyond bring us a lot of points, is so excinting

see Robotinha on platform with our ball in the center

position of the rack from Ball Game finishing the robot

game with golden key.

8We have FUN!

7We display Gracious

Professionalism and

Coopertition in

everything we do

6We share our

experiences

with others5What we discover

is more important

than we win

4We honor the

spirit of friendly

competition

3We know our

coaches and mentors

don´t have all the

answers; we learn

together

2We do the work to find

solutions with guidance

our coaches and

mentors

1We are a

team

BRAZIL

SESI