RoboCup Testing

Documentation and testing methods for evaluating different components and systems of the 2008 RoboCup Robots

RoboCup Mechanical

Testing Devices

Testing Criteria and Objectives

Dribbler

• Trap ball
  • Ball speed- speed the ball can hit the without moving back. Use a spring and a speed trap to measure the speed.
  • Ball angle- rotate the robot
  • Rebound- distance the ball bounces back

• Hold ball
  • Center time- measure time in seconds
  • Climb ball- measure change in normal force on the measuring platform
  • Pull force- angle of loss of contact. Measure what incline the measuring platform is required for the dribbler to lose contact
  • Reverse speed- have the robot on a treadmill and measure when the ball comes lose
  • Lateral speed- have the robot on the treadmill but have the dribbler facing tangential to the motion
  • Rotational speed- rotate the speed of the carpet and see when the dribbler loses control

• Material Test*
  • Measure either the lifetime of the dribbler under continuous operation and visually inspect the dribbler.

Kicker

• Evaluate kicking capabilities, such as max speed reached
• Control speed- speed trap measuring velocity versus voltage
• Accuracy- impact test to measure where the ball impacts a wall
• Lifetime- how long does the kicker last both with a ball being hit and when there is no ball. Also measure changes in speed and accuracy over time.
• Frequency- how long between successive firings

Chipper

• Evaluate range capabilities of a chipper design
• Range- to where the ball lands
• Angle- accuracy to how close the ball lands
• Lifetime analysis same as kicker

Shell

• Maximum speed ball at different areas of the shell until it breaks

Omni wheels

• Test the reliablitity and effectiveness of the omniwheels for traction
• Traction- run the robot up an incline

Tests

Dribbler Incline Test

Purpose: Measure moment dribbler roller produces on ball

Measure: angle of device when ball first begins to fall away

Equipment: Angle device, robot with working dribbler, golf ball

Variables: angle, different dribbler rollers of varying material

Procedure:

1. Roller 1 - 2007 dribbler roller
2. Roller 2 - neoprene heat shrink dribbler roller
3. Roller 3 - santoprene dribble roller
4. Roller 4 - silicone rubber dribbler roller
5. Roller 5 - neoprene heat shrink covered, tapered, concave shaft .005" D/.1" L