HARDWARE

CAD

Link to Full CAD File

Drivetrain

2 driven wheels (Pololu motors) are located at the front of the robot, while passive casters at the back of the robot allow for smooth motion. Differences in wheel speed lead to turning. Bearings and wheel mounts support the wheels.

Intake

Our initial concept for the intake was an arm which would pivot to score. One side of the arm would have a container for the balls and initially rest on the ground. The other side of the arm would be a counterweight to ease rotation and required motor work. Powered rollers on the container would help intake balls. Once the balls were in the container, the arm would pivot around the other end to score in the high basket. The rollers could be reversed to help ensure that all the balls were scored out of the container.

Here the final intake design can be seen on the finished robot. We used gears to allow the motor to be mounted above the intake compartment and power the front roller. The two rollers were connected by a belt made of Theraband. The rollers themselves fit into a laser-cut Duron frame with bearings to ensure smooth rotation. The frame is secured to a 1/4" stainless steel shaft with wheel adapters. The shaft is free to pivot on bearings set in Duron brackets attached to the chassis and directly coupled to the arm motor. The frame also includes a rectangular container at the end, allowing for an adjustable counterweight. Limit switches on the robot act as hard stops for the arm and allow it to home its position before intake.