2012-2013 Geoff


Design


Claw:

Geoff's first iteration of his claw was metal graspers which would grab the rings from the sides. This claw was not very effective at all. Our second iteration was a basket which would come from under the rings and scoop the up. This was effective, but not very accurate and would occasionally drop rings when we made a turn to quickly. Our third and final design was a plastic milled claw which would push up against the rings and have two metal cut offs which would separate exactly two rings to be pulled of the ring dispensers. This was our most effective, efficient, and robust version. The claw was designed by a student on the team and milled with the help of Cypress Bay's Engineering Club. 


Arm:

Geoff's arm design was based off one of our own previous robot's, which competed in FTC Bowled Over! It uses two motors geared for torque to lift the entire arm. The second part of the arm, which held the claw, always stayed at a 90° angle to the ground. This was accomplished by chaining together a static sprocket on the axle at the base of the arm, and a sprocket bolted to the second pair of channels, so that when the base of the arm changes angle, the claw stays in the same orientation as it was when the sprockets were linked. Instead of having extra motors on the arm to position the second joint, we decreased the weight needed to be lifted on the arm and completed the same task with fewer motors. This also increased the speed at which we could raise and lower our arm. 


Ramp:

Another one of our unique features was our ramp. This ramp was used in the end game to lift our allies off the ground, without putting unnecessary stress on motors that would hold up an alliance partner. The hinge was designed by one of our freshman members at the time. One of our biggest issues was the drive train. 


Drive Train:

We first decided to use a holonomic drive train, which was four omni wheels placed at each corner of our robot, perpendicular to the wheels on adjacent corners. This allowed us to move not only forward and reverse, but sideways as well as diagonally. We quickly realized, though, that the small ledge from the mat to the center scoring area was a huge hurdle for the omni wheels. It was extremely difficult or sometimes impossible to get our robot over the ridge and decided holonomic drive train was not a fitting drive train for Geoff. Since we usually dumped all rings we were holding and our new claw design allowed for more inaccuracy when collecting rings from the dispenser, we determined four wheels driven by chain and sprocket mechanism would be best, as it allowed more speed and pushing power than the holonomic drive.