Our robot, lovingly named Rocky, has had many upgrades throughout the year. Here we present the end result and some of the major overhauls Rocky has been through. To keep things fun we have given unique names to otherwise ordinary parts of the robot.
We choose blue tetrix wheels with tetrix omni wheels in the front in place of Mecanum omni-wheels, that although would allow the robots to move sideways, were too heavy and too wide to fit within the size limits. The tetrix omni wheels allow the robot to slide along the walls making our autonomous simpler and more reliable.
To prevent limitations to our scoring capabilities, a aluminium and polycarbonate covers sections of the robot to which it has been deemed that there is a likelihood of minerals entering and remaining.
The TeleOp scoring mechanisms
We have named the entire ensemble of what deposits the minerals into the lander the arm. The arm is attached to the chassis on the stern of our robot. The arm has the banana rack, which allows it to move up and down.
The arm’s general movements are controlled by a series of sprockets. In particular there are two sprockets made of black plastic that have been named for clearer understanding. The one within the bracket is called le big GEAR. The one outside the bracket is le grand COG.
The most current iteration of our pick up system was bestowed the name of the Popeyes’ 10 pcs meal deal, which has one bucket instead of two unlike previous versions. It has a sorting system based on the fact that the silver minerals roll easier and are taller than the gold minerals.
The Chicken Fingers are the rotating surgical tubing piece that allow us to pick up the minerals. They rotate thanks to a motor. As for the Popeyes’ 10 pcs meal deal’s, they are short and stiffened with zip-ties.
Our lifting mechanisms is called the upper. It is an immobile piece attached to the front side of the robot. Much like arm, it has a rack to move up and down. We’ve named that rack the rack of rod/rob. It allows our robot to detach from the lander and reattach itself during teleop.
One conclusion we drew from the Alberta championship is that our encoders were not accurate enough to run our autonomous consistently. We then experimented with the Rev 2m distanced sensors and the IMU acceleration sensor built into the Rev hubs in the goal of making more precise movements during autonomous. The Rev distance sensors were deemed to unreliable, giving inaccurate data and the IMU dysfunctional because the imbalance between our two drive motors power. Our next best option was to create little servo arms placed on the rear of the robot that could be used to sample at the beginning of autonomous. These arms would allows us to make less movements during autonomous and therefore reducing the possibility of getting off course. We named the arms the Canadarms. There are three arms, left,centre and right. One for each sample placement. Our tensor flow detection software on the phone determines the placement of the sample and then activates the corresponding Canadarm. The arms are made of rev servos with curved metals strips attached to them.
Old parts on robots
The TeleOp scoring mechanisms
Our first set of buckets are called the KFC Buckets. Essentially, they are two buckets on opposing sides of one motor that are attached to the upper part of the arm. Our construction team made sure the buckets could freely move up and down so that they fit within the limits and that they could be manipulated when picking up minerals.