Mechanical Design

Robot CAD Design using Onhsape: 2020 Infinite Recharge Design

Launcher

2 x 775 Pro motor

3.75:1 Gear Ratio

4" Wheels

1/2" Compression 40 degree launch angle

Possible improvements

-Position Hood that uses pneumatic controls to change launch angle.

-Electric Motor that swivels Hood.

-Stationary Hood that uses Motor speed to determine height.



Intake

2 x 775 Pro

25:1 Gear Ratio

Polyurethane Belting with crown pulleys

2" Vectored Intake wheels

Possible Improvements:



Elevator

2 x 775 pro

25:1 Gear Ratio

Belt/Pulley System Designed to hold 4/5 Power Cells

Embedded Encoder for indexing

Proximity Sensor Detects Power Cells

Drivetrain

Our current chassis is a Andymark Am14U4 chassis kit. There are multiple design options and we chose the long chassis with drop center wheels. That means that the center wheel is slightly higher than the front and back. 0.140 inches to be exact. We kept the wheels that came with the kit which are called HiGrip Wheels from andymark. We also kept the standard gearbox and gear ratios. The standard gear ratio that comes with the kit is 10.71:1. This gives it a speed of 10 ft/sec. There is a height limit to the robots which is 45 inches on flat ground. And the frame perimeter of the robot may not be more than 120 inches. We used NEO, REV-21 1600 Brushless Motors for the drive power. 

Possible improvements

1) Omni Wheels

2) Chezy Drive

3) Investigate why follow mode does not work on Spark Maxes/Neo

Climber

Dual 1.5" Pneumatic Cylinders

Andymark Elevator on the uprights of elevator

Pivoting Dual Hook for center hangs and to help reduce racking

Possible improvements:

Works well now, Fix it if it breaks

Add spring assist in case we are low on air