2020-2021 Robot – GEarheads

Our Past Robot

2020-2021

Our Past Robot 2020-2021

Process Involved

The Robot Design

The goal for last year’s FTC challenge is to design a robot that is capable of shooting rings and controlling a variety of elements on the field. As a team, we expanded on our robot from a few years ago by implementing stronger materials, more complex designs, and better software to create a well rounded robot that is predictable on the field. The hardware consists of four main components listed below:

The Drive Train

(1) Drive Train Design - This CAD model illustrates the basis for the drive train. We are using mecanum wheel base for this year, as it gives us better control around the field. Two side plates are also present which hold the Rev modules

(2) Odomontery Design - Essential for autonomous is our odomontery system. The drivetrain consists of three odomentary “pods” where each one is composed of a small omni wheel connected to a rotary encoder, which records the wheel’s movement.

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The Shooter

(1) Hopper Storage For Rings - Rings are pushed into the hopper where multiple can be stored at a time. The driver can then push the rings into the launcher by activating the flipper arm

(2) Flipper Arm Design - This 3D printed piece went through multiple iterations before eventually settling on this design. The elongated shape helps to push rings into the shooter, while the backplate prevents jamming

(3) Anatomy of the Intake/Shooter Systems - This CAD model helps to highlight how the intake and shooter systems work together. Rings are fed from the intake at the bottom, dropped into the hopper and primed for shooting

(4) Outer Shell - Custom aluminum plates help to hold all of the shooter mechanisms together, including the motors for the flywheels and preventing rings from jamming other components

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The Intake System

(1) Chain Drive Intake System - Intakes rings and moves them into the shooter hopper

(2) Whisker Wheels - After revisions, implemented whisker wheels that draws and captures the rings more easily

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The Wobble Arms

(1) Wobble Arm Design - This CAD model illustrates the design of the arm bracket that clamps on to the wobble goal with the help of a servo. The two mirrored designs are necessary for the arms on each side of the robot

(2) Wobble Arm Lowered - When the round begins, the arm can be lowered and opened to clamp onto a wobble goal. Rubber is attached to the printed pieces for better grip

(3) Reinforced Arms - To prevent wear and tear from collisions, the arms are reinforced with printed brackets and aluminum plates. This added strength also prevents the stress from carrying the wobble goal at high speeds

(4) Wobble Goal Pusher - This subsystem also serves as a way to move the wobble goal. By using a custom 3D piece that curves with the shape of the goal, the robot is able to push the goal around when driving backwards

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