TURRET
Element designed by Evan and Jett
CREATIVE AND INNOVATIVE ELEMENTS
Our turret is an incredibly unique solution to this season’s game, with only a handful of teams attempting “true turrets” due to this season’s horizontal expansion limit restrictions As no one from our team had ever created a turret before, this is also our most heavily iterated and prototyped part.
The turret is powered by a motor connected to the central turret axle through a beveled gear. This choice cuts down on space needed while providing direct control over turret positioning
The rotation of the turret also allows us to mount double the scoring systems in the same amount of space as we can spin the turret to access either one. This allowed our robot to stay consistent with our game strategy of scoring both samples and specimen
RISK MANAGEMENT
Since significantly fewer teams attempted to use a turretbased system this season than most, we understood it would be a riskier endeavor To account for this, we built a risk management system that accounted for the possibility of the turret getting stuck at any point throughout the game. Since both our game scoring and 3rd-level ascent were generally reliant on the turret, we had to intentionally design the robot to maintain some scoring capabilities and a 2nd-level ascent without it
ITERATIONS
We are currently on our fifth design for the turret system of the season, here are some of the designs we considered and tested initially
DESIGN
EASE OF MAINTENANCE
To maintain our robot while the software team or drivers were using it, we use a log book to track problems that come up This allowed issues to be quickly communicated to the hardware and pits team while also ensuring that there was a chance for issues to be deferred but remembered for next time if there was something that was not critical that broke. Our robot’s simplistic subassembly design also makes it simple to maintain, as each subsystem can be quickly removed, fixed, or replaced.
Blue Alliance, Sample Cycle Diagram
Utilizes a pass-through system to cut down on cycle time by not requiring rotation!
SIDE PANELS
GAME STRATEGY
This season, our strategy is to have a multi-functional robot design that supports scoring both specimens and samples, allowing us to be as versatile for our alliance partners as possible. This plan directed our design choices for our robot this season.
Blue Alliance Specimen Cycle
Delivery via extension in Step 2 provides more physical space between Steps 2 and 3, allowing for quicker turns and reducing cycle time
Our team has decided on the use of side panels on our robot which serve several purposes:
Protection: Side panels provide the inside elements of the robot with an additional barrier against breakage in the case of impact with game elements and other robots.
Brand: Our side panels incorporate custom art made by Dylan Johnson de Lacy, Mattie Sullivan, Codera Korgh, and Tenzin Sivukpa, helping us to establish a clear and recognizable brand that we can be recognized by.
Practicality: This year, our team has created 2 sets of interchangeable side panels for each alliance that will aid players and judges in identifying our alliance during a game These also serve a practical purpose as our robot signs!
DELIVERY SUBASSEMBLY
HOW IT WORKS
Element designed by George, Andrew, Jett, & Evan
Utilizing gravity to drop a captured sample into a box supported by a servo, we score samples into the high and low baskets A claw mounted on our linear slides provides specimen scoring. We designed our system with extra length to lower the risk of under-powering if we have a voltage drop. The system also uses a CAM shaft so the servo doesn’t need to remain powered to keep the delivery box up.
INNOVATIVE ELEMENT - CASCADING SLIDES
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INTAKE SUBASSEMBLY
HOW IT WORKS INNOVATIVE ELEMENT
This is currently our second-most iterated system It is based around an extension driven by two servos counter-rotating to reach into the submersible and scoop a specifically targeted sample.
The color sensor at the back of the intake allows us to quickly determine if we have picked up the correctly colored sample. This quick automated system puts us at a far lower risk for penalties
Element designed by Jett & Evan
