Full Robot Front View

x-Chassis Layout

We built a unique X-shaped Chassis this year to allow for less turning, 3 intake systems, and an overall maximized PPS. Our 5kg X-shaped Chassis keeps motor weight low to the ground and includes custom ppa-cf bevel gears! However, the X-Chassis has four quadrants that allow for more opportunities for design. Within the Decode game, we use the forward, left and right quadrants for intake while the back is used for wires, artifact lift (see second floor functions), control hubs, and robot lift. 

2nd Level - Hopper

Static Lower Ring - The static lower ring is made of four separate parts. It was specifically deigned with gaps due to the center of the artifact being wider than the part of the artifact we want rolling on the static hopper. This static ring acts as a guide for the artifacts when it spins and prevents the artifacts from falling out of the hopper. 

Lift + Launch

As seen in pictures, everything is modeled in CAD prior to building. Artifact Lift - Inspired by a scotch yolk, consists of a servo, magnetic switch, rubber band, lifting “fork“, and bracket. The lift sends artifacts from the hopper into the launcher and has a half duty reset cycle! Artifact Launcher - Our artifact launcher consists of a 6000 rpm motor connected to a rotating wheel. On the back of our launch mechanism is a custom guide to shoot the artifacts at a proper angle. On the wheel we have a flywheel weight to increase the rotational inertia. The artifact launcher allows us to launch artifacts at the top of our robot . This effectively prevents the blocking of artifact launching into the depots.

Spinning Upper Ring - The upper part of the hopper is also made of four separate parts, each with a hole in the center to hold an artifact. Combined, they form a flat plate. When the hopper spins, an artifact will be pushed by this plate. The point of one section meets the rest of the sections at the center. From here they are all connected to the center disk.

Center Disk - The center disk allows all of the upper ring quarters to stay connected. This plate is connected to a shaft that moves down into the lower part of the robot. This pole is connected through gears to a 117 rpm motor that allows for the top part of the hopper to spin to each quadrant. When the quadrants are centered, three of them are in line with the three intakes and the other is in line with the launching mechanism and the artifact lift. 

The center artifact alignment disk is also the connector for the upper ramp (labeled khakis on CAD page for mre information and see below for picture).

Limelight Vision is mounted as high as possible so we always see the depot April Tags, with 3D-printed mount, see more on CAD page!