Our Robot

This is "Kraken" the robot. 

Design Process:

We adopted "Fail Fast"  methodology so that our robot development process is quick and if something fails, we have ample time to iterate. We divided ourselves into 3 teams to speed up the design process, Mobility, Arm and Manipulator (claw) teams. Each team cameup with multiple options and we finalized the design based on PUGH matrix.

Mobility / Chassis:

We developed a strafer chassis with 96mm macanum wheels for easier mobility, controlled by 435 rpm DC motors

Arm:

Arm assembly consists of a rotating frame pivoted at the top, connected to a 117 rpm DC motor (high torque) using a gear drive. Two stage viper slide is attached to the arm makes it a telescopic arm design which is needed to reach high basket. Front end of the viper slide has the gripper mechanism to pickup samples.

Claw / Manipulator:

Traditional robotic arm style claw controlled with two servo motors.

Ascent Mechanism:

Two short viper slides with the hooks added to at the front end of the robot to achieve level 2 ascent during the end game. These viper slides also helps to balance the wieght and avoids the robot tipping during the high basket drop.