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:
Iterate Tube hubs
Add pneumatic actuator
Update the CAD model to reflect current/improved design
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.Â
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