.

Meet

DEADLOCK

Frame

• 28”x28” square chassis

• 2”x2” chassis rail with ½” hole pattern to provide greater strength and modularity

• Swerve drive with Kraken motors

Bumper

• High rigidity with reinforced bumper corners

• Easy mounting with WCP cone bumper mounts

Electrical

• Bottom-mounted electrical to protect wires from coral

• Fully wrapped wires with wire sheathing to prevent damage

• Access holes grommeted to prevent wires getting cut

• Battery mounted below the chassis rails to keep the center-of-gravity low

• Battery mounted on the robot's underside in a foam enclosure to prevent damages

Robot Optimization:

• The four independent modules take up little volume, allowing for the optimum design of other subsystem mechanisms

• The simplicity of this COTS module and the ease of building the rest of the chassis allows the team to focus more time and effort on other robot subsystems

Module Information:

• WCP swerve modules

• Swerve X2t modules

• 2 Kraken X60 motor per module

• Omnidirectional driving

Motors and Sensors:

• Azimuth rotation controlled by a Kraken X60

• Drive wheel controlled by a Kraken X60

• Wheel orientation measured by a CANcoder

Prototyping:

• Rapid prototyping to test the optimal pivot point to ground distance, and the orientation of the cage in the robot 

Scoring:

• Deep climb

• One-way latch mechanism secures robot to cage

Pivot Gearbox:

• Powered by 2 Kraken X60’s

• 145.36:1 gear ratio

• Pivot point is located 11” off the chassis

Latch Mechanism:

• Two rollers powered by a

• single Kraken X44

• 2 compliant rollers to provide correct cage alignment

Design Constraints:

• Can lift 150lbs of weight

• Wanted to take up as little space in the robot as possible

• Universal mounting to the chassis and latch mechanism

• Wanted the gearbox as low to the chassis as possible

Coral Intake Components:

• 30”x20” funnel opening

• Large funnel opening allows for inconsistencies in coral handoff from human player

• 35-degree ramp for fast transfer

• Ramp angle matches angle of the coral station

• Steep angle of the ramp allows us to instantly drive away without coral falling out

Cascade Elevator:

• 3 stages including carriage

• Each stage goes up approximately 28”

• All the stages move up simultaneously, allowing for more constant and consistent motion than a continuous elevator

Electrical:

• CANcoder mounted on gearbox to determine rotational position and velocity

• 12ft cable bundle with Power and CAN wires wrapped around inside stage tubes

Elevator Components:

• Our constant force spring removes 5.94lb off the carriage, offsetting the scoring mechanism’s weight

• Constant force spring reduces strain on the gearbox and allows for faster movement

• 1/8" diameter Dyneema Rope for elevator stringing, lifts up a maximum capacity of 450lbs

• Tie Rods stabilize the elevator, preventing it from wobbling while extended

• Custom Nylon-Printed Tensioning and Rope Tying Blocks, allowing for better stringing and movement

• Added ratcheting tensioners to avoid points of failure and difficulty resulting from tensioning Dyneema

Requirements:

• Score coral at all levels

• Pick up algae from the reef

• Score algae in the barge and the processor

• Account for human player coral loading inconsistencies

• 1 motor to keep mechanism light-weight

Elevator Connection:

• Moves by elevator retraction

• Modular mounting and design allows for scoring for easier repairability and faster iteration

• 2x2 tube for rigid connection

Coral:

• Coral held against a circular surface allowing for a rigid grip

• 42-degree angle coral outtake, allowing us to score on all levels without a pivot

• CANrange to identify coral positioning in mechanism

Passive Algae Flipper:

• Passive deployment when the elevator extends

• Algae Flipper allows for easy de-scoring and scoring on all levels

• Current sensing to keep track of algae in mechanism