This compact drivetrain design allows us to quickly maneuver over and around this year's game elements. With a small chassis, we can better utilize the small pathway between the charging station and barrier, as well as fit on the charging station with two larger robots.
23"x23" Frame: increased maneuverability
6061 Aluminum Battery Box: rigid battery box designed to lower our center of gravity and act as an additional mounting point for the elevator
Swerve X Modules: WestCoast Products, NEO powered swerve modules for versatility, speed, and robustness
Electrical: isolated power and CANbus wires; 'CAN' along the top, 'power' flush with the bottom of the box grants better access to other components
The single-stage elevator supports the carriage with a chain loop controlled by 2 NEO motors and a Limelight camera for assisted scoring and alignment.
2 NEO Brushless Motors: 1-stage 4:1 gearbox, recessed into the chassis, lowering CG
18T #25 sprocket: output stage
47” 3”x3” Box Tube ‘Elevator’: 6061 Aluminum
16.5-lb Constant Force Spring: net-zero carriage weight
Tie-rods: 6061 Aluminum; truss structure
Electrical: IGUS Chain mounted on the left side of the elevator containing wires to support 3 Falcon 500 Motors & 2 CANCoders
Dual carbon fiber 31" rods connect to the carriage with a small and reliable hub. The arm reaches the top node through rotation about the hub joint and vertical motion of the carriage.
74.25:1 Gear ratio: arm rotation
Carriage: 0.32 sec travel time
Lightening patterns
Reduced risk of tipping when at the highest point
Slotted gearbox mounting: custom chain tensioning
Carbon Fiber Rods: lightweight, rigid application decreases the load on rotation joint
Machined aluminum inserts: strengthen carbon fiber rod ends
1 Falcon 500 motor: ± 180° of motion
Modified Colson Hub: secures the arm to the carriage
Electrical: 2 power and 1 CAN wire fed through snake skin to secure wires, coiling the arm in a spiral for ease of access and modularity
A flexible intake design, created with the capability of consistent collection of both game pieces. The wrist mechanism allows for multi-angle collection with speed and versatility in mind.
Delegated Cone/Cube Collection: consistent collection, adaptable to either piece
Dual Falcon Power: powered at an 8x54 ratio - split-second collection
15:14 - 14:15: Gearing respectively
Features 9mm belts: optimized torque
24T 3D printed Carbon Fiber inlay pulleys
Wider Acquisition Area: changing to a vertical collection plane enables an additional "cube" length of wiggle room as well as collection along the path of the cargo
Pivot: herringbone gear mounted to dead axle with a 41.14:1 gear ratio