FIRST Robots

Specifications:

• Riveted aluminum sheetmetal chassis
• Reinforced with wood spacers
• 8WD, 6" Pneumatic wheels, positioned to optimize bump climbing
• 4 CIMs through a custom three speed transmission, geared for approximately 5 feet/sec, 12 feet/sec, and neutral
• Low center of gravity to prevent tipping

Kicker:

• Uses surgical tubing as energy for the kicker
• Winch is used to retract kicker, powered by a Fisher Price motor in a Dewalt gearbox
• Pneumatic cylinder disengages winch and releases kicker

Roller:

• Two horizontal bars to pinch ball
• Bottom bar is fixed and covered in high traction tape
• Top bar powered by a CIM in a DeWalt gearbox via a belt, covered in high traction urethane
• Belt can slip and acts as a clutch once the ball is possessed
• The belt also forces the roller assembly down, to ensure ball has contact with the floor

Hanger:

• Designed to hang on vertical bars
• Latch system to lock onto bar using a "tree stand" design to prevent slip
• Pneumatic cylinder is used to extend arm, winch is used to retract
• Power Take-off system uses the drivetrain transmissions to power the winch, while the actual drivetrain is in neutral
• Second latch attaches to prevent back driving

Sensors:

• Drive: Encoders on each side of the drivetrain used to calculate information such as distance travelled and velocity. Gyro used to keep track of angle.
• Kicker: Encoder is used to retract kicker to pre-set positions for different kick distances and trajectories

Robot Overview:

• "Simbot SS - Simplicity In Design"- An overview of the robot's core features. Used as a submission for the GM Industrial Design Award.

Specifications:

• 6WD, 2 Speed Drivetrain, using modified AndyMark Gen-1 Shifters and 4"x1" IFI Traction Wheels, geared for approximately 6 and 16 fps.
• Shoulder joint powered by a Fisher-Price motor and a modified FP gearbox
• Roller Claw to pickup trackball, powered by a RS-550 motor and a custom gearbox using gears from FP transmissions

Launcher:

• Powered outwards with surgical tubing
• Tubing pulls 3/4" anodized aluminum rod, when the winch is released
• Winch powered by a FP motor through a Dewalt transmission
• Winch pulley is engaged and released by a custom dog gear on a 2"x1" cylinder
• When the dog is disengaged, the winch shifts into neutral, allowing the pulley to spin freely, thereby propelling the ram into the ball for launch

Sensors:

• Drive: Encoders placed on both sides of the drivetrain keep track of the distance travelled. A gyro keeps track of angle. Feedback from both allows us to keep track of our exact coordinates on the field. This allows for dynamic generation of hybrid modes
• Arm: A potentiometer mounted to the shoulder joint measures the rotation of the arm. This allows for the use of pre-programmed buttons to move the arm to pickup and launch positions
• IR: An IR receiver takes input from the Robocoach who can signal our alliance's ball positions on both sides of the overpass via a remote control

Drivetrain:

• High traction Brecoflex tracks
• 2 speed AndyMark transmissions geared for 4 and 11 fps
• PID feedback control used for a "base lock", the robot automatically fights back to hold it's ground when pushed

Ball Intake:

• 2 Window motors power rollers linked with polycord belting to grip balls, and convey them into out basket

Elevator:

• 2 Globe motors power plastic chain which lift balls from the basket to the launcher

Launcher:

• 8" Skyway wheels, powered by individually by a Fisher Price motor and a Dewalt transmission
• The wheels spin in a counter clockwise direction to shoot the ball into the goal
• Effective range of 8 to 26 ft with a fixed angle
• The speed of each wheel can be controlled individually to create sidespin, allow the ball to curve. Used to make difficult shots.

Drivetrain (SimSwerve):

• Design of an Omnidirectional Drive System
• 2 wheel, 4 motor strafing drive system Gearboxes powered by drill and Fisher Price motor, geared for 9 fps
• Each module steered independently by a Globe motor.
• 4 independent pneumatic wheel lifters to climb the 6" steps
• Omni directional sensors on each wheel to detect the deck, and automatically raise and lower each wheel

Arm:

• 3 degrees of freedom, shoulder joint, linear extension and elbow
• Over 13 feet of reach for capping over robots, and easy hanging
• Gripper to manipulate the 2X ball
• Gripper made from carbon fiber to reduce weight