We now have 6 days left of build season, and everyone is hard at work. All the intake pieces for the final robot have been machined, and we are in the process of assembling it. It will hopefully be finished tonight. The climber for the final bot was put on today after the side box tubes were swapped out for spacers to save weight. In addition, a group of people is currently working on the bumpers for the robots.
The CAD work for the team is almost entirely done. Here is a beautiful rendering of the robot CAD Emma made.
All the awards submissions are now finished. The dean’s list essays were submitted early this afternoon. From now on, the awards team will be working on the Chairman’s video and presentation.
The intake wheels we have been using have sold out. Because they are prone to wear, we needed another solution. We 3D printed a mold and used it to make a cast silicone wheel. We have yet to try it on the intake, but it seems promising. Tonight we recieved laser cut parts from Harvey Vogel. This meant that we could begin forming the climber as well as the intake. I forgot to take pictures of them, but Anna and Emma made them look really rad so I’ll send some out tomorrow. We need to have the final robot done by Saturday so we will better know how it performs in comp. We are approaching the end of week six. We’ve only got six weeks. All hands on deck, lets make this one count.
We spent much of day 36 machining more parts for the final robot. All pieces for the final elevator were machined, the elevator was partially assembled, and we replaced our silicone covered pool noodle with a noodle covered in an inner tube instead. Outsourced parts for the climber, more gusset plates, and intake pieces will be sent out to Harvey Vogel tomorrow. We will also be printing more 3d printed standoffs. We’ll hopefully begin machining and put together the intake, along with making more polycarb hooks for the climber.
Yesterday the build team worked hard on perfecting the intake and testing different roller bars, which included covering a noodle in silicone, which worked, and is super cool. Build also worked on machining parts for the elevator for the final robot.
The robot killing Trevor
Of course, we also did a lot more testing on the intake and on the elevator.
CAD worked on developing possible climber ideas and designing them.
Today, build did more work on the machining of elevator parts for the final robot and electronics worked on wiring the final robot and made some changes on the practice robot wiring. We also now have a solid climber arm prototype.
Testing to make sure the climber bar is sturdy, (it was definitely sturdy)
Build also spent more time perfecting the intake. Lots of work was also done on the elevator, making it less wobbly, and working out any problems we found when we were practicing.
Bridgette successfully carrying an unreasonable amount of cubes while packing for the field house
We ended day 35 by heading over to the field house. We practiced cycling cubes while testing our elevator and intake. Videos of testing can be found below
Ten days left!
It is now day 33 of build season. The intake was mounted to the elevator and more pneumatics work was done. Drivers and coders also spent time testing the robot. Our intake with the cube clears the scale at it’s highest orientation with plenty of room to spare. In addition, machining for the parts of the final robot elevator began today. Clearance was changed slightly, but the design of the elevator remains almost completely the same. Videos of the elevator in action are below.
In the following days, we will be trying to reduce the weight of the intake, as requires a lot of force to lift off the ground and puts strain on the elevator. We will also be designing a climbing device and experimenting with the possibility of a forklift in CAD.
Walter is very pleased
The Woodie Flowers nomination and essay were turned in today. Congratulations to Mr. Eke for being this year’s nominee!
Yesterday our team met at the field house to finish assembling parts and to test the robot. We finished assembling the intake and did work on the actuator. We also tested the drive train, which was successful. The coders were also busy at work at the field house yesterday getting the code ready for the robots.
Tonight the build team worked on the intake and mounting it to the practice robot. We also did some work on the bumpers.
CAD team experimented with the geometry of the forklift tonight.
After many months of work (and one of the team leads and captains crying a little bit), the Awards team submitted their Chairman’s executive summary and essay tonight.
Yesterday, we worked on testing the practice robot and assembling the final robot. We worked on final touches of the drivetrain of the final robot and the electronics team worked on pneumatics of the final robot and on CAN wiring of the final robot. Testing of the final robot went well, and we got the elevator successfully moving up and down. Though the elevator is going faster than we want right now, we’re working on perfecting it.
Today, we worked on machining parts for the intake. More work was done on wire managing the two robots. Almost all parts of the intake were machined and part of it was assembled, but the rest of the parts will be finished and assembled at the practice field tomorrow (6140 Claude Way in South St. Paul). As a reminder, we will NOT be in the shop tomorrow due to caucuses. We will be practicing driving the robot and completing the intake actuation system.
The Chairman’s essay is in its final stages of writing and is going through proofreading before being submitted. The Chairman’s video is also being edited currently, with all the interviews done.
Toady we spent most of our time continuing assembly of the practice robot. The main breaker was mounted to one of the elevator supports and our 2 gauge wire was routed to it, this means our robot is now capable of turning on. Addie finished wiring and managing the can wire, so the robot’s main electronics are essentially finished.
More work was also done on the elevator, Walter spent some time connecting a chain run from the motor to the elevator in order to drive the second stage up. Then a pulley was mounted to the top of the second stage and Kevlar rope was run through the pulley, connected to the third stage and a stable bar to create the cascading effect. Finally the constant force spring was mounted, and has presented some difficulties with attaching to the elevator, I would like to remind people to not touch this spring as it could snap and cut you, hands and fingers away at all times.
A group of people have started assembling the final robot gearboxes, which should be put in the final chassis soon. Final robot electronics have been prepped and we started to put them in the robot.
Our second meeting discussing climbing options was today. During the meeting, we narrowed down the ideal position of the climber to be at the back of the robot. Because of the width of the bumpers, climbing from the side of the robot would be very difficult. Climbing from the front of the robot would also be very difficult because the intake is in the way in both actuation positions. In addition, it was decided that climbing by taking up only half the distance on the bar was not worth it, as the bumpers already take up a majority of the space and it would only be beneficial if a significant number of teams were planning to do the same (which we know they aren’t from our pre-scouting information).
The forklift idea is lowest on our priority list due to the other more important subsystems that need to be developed and the difficulty of incorporating it into our robot design. Currently, ideas for climber hooks and ways to make it stronger are being explored. They will be tested once the elevator rigged up and working. Our small bearings for the elevator arrived today, so mounting of the elevator to the drivetrain began.
(WordPress won’t let me turn the photos upright, but if you turn your head 90 degrees it looks right)
Machining of the intake will begin soon once the CAD design is finished and drawings are made. Thank you to Bridgette for pre-scouting (stalking) the other teams we will be competing against at Duluth, to Mr. Langseth for spending a lot of time ordering our robot parts, and to Mrs. Pothos for providing the photos for today’s blog.
It is now day 26 of build season, and we have a little less than 3 weeks left. Today was mostly spent assembling the drive train of the robot. The gearboxes, wheels, and most of the electronics are now on the practice robot. At this point, our drivetrain is about 50 pounds. In addition, the new flatter nuts for the elevator arrived and were switched out on the elevator. The other bearings for the elevator will hopefully arrive soon so assembly of the elevator can be finished and it can be mounted on the drive train.
Mentors hard at work
We also had the team meeting discussing the current plan for the climber and possible forklift. We have decided to think about the different possibilities and come back tomorrow for another discussion after dinner. The screenshots of the CAD model shown during the meeting will be included below for further analyzing. Please review them before tomorrow. Note that the CAD model below does not include the intake, which will actuate up and down on the side with the box tubes sticking out of the elevator. Also note the position of the center of gravity (weird floaty thing), although that is calculated without the weight of the intake. Please feel free to throw out any ideas for the climber you may have.
Top of Elevator and Climbing Bar
Top View of Robot Side Orientation
Isometric View of Robot Side Orientation