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Cycle-Ops
Cycle-Ops
Meet our one eyed friend Cycle-ops! After a member added a googly eye to the claw, we all decided to name our robot after the creature in Greek mythology, the single eye signifying unity and embodies our team’s spirit.
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He is a 16” by 17” robot able to score from both high and low baskets along with clipping specimens on both the high and low chambers. In addition to this, he is able to do a level three ascent using both linear actuator and 4 stage viper slides.
Drive Train
For our drive-train we opted for a rectangle shape as it offers more space and stability compared to other shapes like triangles or squares. It also ensured our sideways movement remained straight, an issue we had in a previous year. Additionally we have a mecanum wheel drive with 435 RPM motors, based on necessary maneuverability and versatility required for the competition.
Intake
To ensure the claw could efficiently reach the top box and the submersible, we used two four-stage Viper slides on either side. This setup provided stability and redundancy; if one slide failed, we had a backup. We added a channel with two servos on the bottom of the connected Viper slides to allow the claw to operate at different angles; down to the floor (0 degrees), halfway (45 degrees), and fully up (90 degrees). As for the claw it is chosen for its simplicity and efficiency. We custom designed our intake, 3D printing both the claw and gears, using a servo to open and close the claw. This design allowed us to grasp and secure samples quickly and effectively.
Ascent
To achieve a reliable and efficient Level 3 Hang, our team selected the Linear Actuator with a custom aluminum hook on the end for its precision and ability to lift the robot's weight effectively. The Linear Actuator allowed us to move up and down efficiently, addressing the need for precise and secure ascents. To protect the actuator gears, we 3D-printed a two-piece cover for the bottom of the actuator. However, its limited vertical motion prompted us to explore various processes for adjusting height. Recognizing the vertical motion alone wouldn't suffice, we attempted two different iterations until resolving on a worm drive with a 117 RPM yellow jacket motor, enabling back-and-forth movement in addition to vertical motion. This enhancement allowed us to achieve a second-tier ascent! Finally when addressing the third-tier ascent, we discovered that adding a U-channel to the back of the four-stage Viper slides enables us to achieve the full ascent.
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