The Drive |
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The drive is a common U-shaped drive. It has 4 motors geared directly into each wheel. The base is one piece that was cut made from multiple smaller pieces of maple wood that were cut and fit to become a structural drive. On the bottom side of the drive there are L-shaped brackets to help brace the main joints.
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The Lift
The lift is on the third layer of the robot, each side is removable by taking out two bolts. The lift is made from multiple pieces of oak wood with custom made bushings. It's a double reverse 4-bar that leads to our turntable. The double reverse 4-bar has custom made bushings at every pivot point or every point where an axel rotates. The lift motors run at a gear ratio of 1:6. The gear ratio on the lift is 1:7. The plate between the two arms is a piece of 1/8 inch plywood. On the board we added some custom photo transferred pictures to go with the team name.
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The Turntable
The turn table is custom made with a close to tight fit. It was custom made out oak and maple dowels. It took a couple of measurements and testing to get it to the desired length. Each one of the spikes are replaceable and removable. It is mounted to a gear that makes the turn table as the motor rotates. The motor is then set to the desired rotating ratio using programming.
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Organization
The main components on the robot are organized on the second layer of the robot. The brains and batteries are directly mounted to this layer. In between the first and second layers of the robot is our light sensor. With the light sensor being sandwiched, this provides and exact amount of light the sensor is receiving. Directly above the light sensor is the re-off with a custom printed backplate that allows for the flash to pass freely. In the center of the this layer is the ball launcher and intake. The launcher is a slip gear with a ratio of 1:7. To direct the balls to the launcher, an intake is mounted in front of the launcher. The intake is directly geared into the motor and runs off the set speed in the programming. To intake the ball, is a cone from last years game. The cone was cut at a certain point to where the ball passes freely through. To keep the ball in the cone two rubber bands are stretched across the bottom of the cone. The rubber bands sit in groves to keep them in place.
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