Difference between revisions of "RoboCup Mechanical 2015"

Latest revision as of 21:37, 24 May 2020

This page houses the 2015 RoboCup Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.

Mechanical team meets Tuesday, 6:30-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.

Background

Current Robots

The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.

Previous Issues

Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.

Improvements

Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.

Requirements

Primary Goals

The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.

Encoders on the motors
Robust drivetrain mounts
Damped dribbler
Lower profile solenoids
Superior traction/grip for the wheels
Robust shell design

Secondary Goals

The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).

Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)
Improved aesthetics for the robot shell
Ease of attachment/removal of electrical boards
Low center of gravity

Specifications

Ball speed after being kicked - 8 m/s
Dribbler bar speed - 8000 rpm
Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds
No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule

see http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG

Mechanical Systems

System Components and Bill of Materials

Machining Notes

Water Jetting

Schedule

Motors shipment date - March 26, 2015
Delivery of Prototype - End of March, beginning of April 2016
Delivery of Fleet - End of April 2015

Meetings

Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.

Minutes Log

Documentation

Testing

Testing RoboCup Testing

General Specifications

Coordinate system:

Coordinate System and Wheel Angles

Origin at the very center of the bottom plate, 0.25" below it in the y axis (height)
The Z axis is oriented towards the rear, so the mouth is in negative

The X axis is oriented towards the right of the robot

Mass:

4.68 bl mas

Mass Moment of Inertia:

Ixx = 18.5298 lbmass in²

Ixy = -0.459 lbmass in²
Ixz = 0.089 lbmass in²
Iyy = 25.488 lbmass in²
Iyz = -0.159 lbmass in²
Izz = 17.66 lbmass in²

Center of Mass:

x = -0.0009.
z = -0.3

Wheel Placement:

Wheel Angles:

The rear wheels are oriented at 45� from the z axis
The front wheels are oriented at 83� from the rear motors

Wheel Distance:

The contact point with of the omniwheel and the surface is 3.144" from the center axis.

Quick Notes

Field Size:
- For the 2014 year, two options were available for the field size:
  - Single-size field: 6050mm x 4050mm
  - Double-size field: 8090mm x 6050mm
- For the 2015 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm
Max ball speed - 8 m/s
Ball diameter - 43 mm
Ball mass - 46 grams
Ball material - DuPont Surlyn Ionomer Dupont's Surlyn Page
Coefficient of static friction of golf ball on felt carpet - .66
last two points from Cornell 2003 Mechanical Documentation

Useful Links

To be completed and appended to very soon

@@ Line 1: / Line 1: @@
-This page houses the 2015 [http://wiki.robojackets.org/mediawiki/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;
+This page houses the 2015 [http://wiki.robojackets.org/w/RoboCup RoboCup] Mechanical efforts. Mechanical tasks for the 2015 competition year can be most easily summarized as a complete redesign of the SSL fleet.&nbsp;
-Mechanical team meets Tuesday, 6-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.
-[http://wiki.robojackets.org/mediawiki/images/5/51/RC2008DevRender.jpg http://wiki.robojackets.org/mediawiki/images/5/51/RC2008DevRender.jpg]
+Mechanical team meets Tuesday, 6:30-9pm Sunday, 1-5pm. More hours will be announced as deadlines approach.&nbsp;[[File:Enlightenment.gif|frameless|right|Enlightenment.gif]]
+<p style="text-align: right"><span style="text-align: right; line-height: 1.6">&nbsp;</span></p>
 == Background ==
-<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors. However, due to an error in the manufacturing of the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. Without encoders, however, this presents significant challenges to our software team.</font>
+=== Current Robots ===
-<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL.</font>
+<font size="2">The team has taken part in RoboCup every year since 2008*. Two different fleets of robots are used: a fleet designed in 2008, and a fleet designed in 2011. The 2008 fleet sports a solenoid powered kicker mechanism and a fixed dribbler. The 2011 fleet sports solenoid powered kicker AND chipper mechanisms, along with a fixed dribbler and encoders on the motors.</font>
-== <span style="line-height: 20.7999992370605px;">Requirements</span> ==
+=== Previous Issues ===
-<span style="font-size: small; line-height: 20.7999992370605px;">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span>
+<font size="2">Due to an error in the tolerances of shaft components for the 2011 fleet, the drivetrain of these robots have suffered tremendously, resulting in decayed performance of the motors. This renders mostly all 2011 robots functionally incapable. Thus, the most reliable robots have been those designed in 2008. However, the 2008 robots lack encoders, and without these sensors, this makes control of the robots significantly more challenging for the software team.</font>
-) Encoders on the motors
+=== Improvements ===
-) Robust drivetrain mounts
+<font size="2">Due to these challenges, it has been determined that a complete rebuild of the robots is required to continue to be competitive in the RoboCup SSL. Particular emphasis is being placed on designing passive mechanisms that aid the software team in having finer control over the robots and the ball.</font>
-) Damped dribbler
+== <span style="line-height: 20.7999992370605px">Requirements</span> ==
-) Lower profile solenoids
+=== Primary Goals ===
-) Superior traction/grip for the wheels
+<span style="font-size: small; line-height: 20.7999992370605px">The team for the 2015 competition year has met several times to discuss the primary goals for a new fleet of robots. These requirements are outlined below, in order of highest priority to lowest priority.</span>
-) Robust shell design
+#Encoders on the motors
+#Robust drivetrain mounts
+#Damped dribbler
+#Lower profile solenoids
+#Superior traction/grip for the wheels
+#Robust shell design
+=== Secondary Goals ===
+The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).
-The team has also considered other desired characteristics of the robots that are not necessarily competition-oriented goals. The list is below (in no particular order).
+#Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)
+#Improved aesthetics for the robot shell
+#Ease of attachment/removal of electrical boards
+#Low center of gravity
-) Improved tolerances for the omniwheel (previous designs have significant play in this subsystem)
+== Specifications ==
-) Improved aesthetics for the robot shell
+*Ball speed after being kicked - 8 m/s
+*Dribbler bar speed - 8000 rpm
+*Compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds
+*No more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule
-) Ease of attachment/removal of electrical boards
+*see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]
-== Systems ==
+== Mechanical Systems ==
 :[http://wiki.robojackets.org/mediawiki/RC08-Components System Components and Bill of Materials]
@@ Line 43: / Line 54: @@
 === Drivetrain ===
-:[http://wiki.robojackets.org/w/RoboCup_2015_Omni Omni Wheels]<br/>[http://wiki.robojackets.org/mediawiki/RoboCup%20Drive%20Motors%2FGears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RoboCup_2015_Drive_Module Drive Module]
+:[http://wiki.robojackets.org/w/RC15OmniWheel Omni Wheels]<br/>[http://wiki.robojackets.org/w/RC15Motors/Gears Motors/Gearing]<br/>[http://wiki.robojackets.org/w/RC15DriveModule Drive Module]<br/>
 === Integration ===
@@ Line 51: / Line 62: @@
 === Ball Control ===
-:[http://wiki.robojackets.org/mediawiki/RC08-Dribbler Dribbler]<br/>:[http://wiki.robojackets.org/mediawiki/RC08-Kicker Kicker]<br/>:[http://wiki.robojackets.org/mediawiki/RC08-Chipper Chipper]<br/>:[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]
+:[http://wiki.robojackets.org/w/RC15-FlatSolenoid Solenoid Development]
+:[[RC08-Dribbler|Dribbler]]<br/>[[2015_Kicker|Kicker]]<br/>[[2015_Chipper|Chipper]]<br/>[http://wiki.robojackets.org/mediawiki/RC08BallSens Ball Sensor]<br/>
 === Testing ===
 :[http://wiki.robojackets.org/mediawiki/RC08METestRig Test Rig]<br/><br/>
+== Machining Notes ==
+*[[RC_Water_Jet|Water Jetting]]
 == Schedule ==
-*delivery of completed team of Robots 5/21/08
+*Motors shipment date - March 26, 2015
+*Delivery of Prototype - End of March, beginning of April 2016
+*Delivery of Fleet - End of April 2015
-== Specifications ==
+== Meetings ==
-*maximum robot weight - 1.8 kg<br/>*ball speed after being kicked - 10 m/s<br/>*dribbler bar speed - 8000 rpm<br/>*compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds<br/>*no more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule<br/>**see [http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG http://wiki.robojackets.org/mediawiki/images/c/c8/Ball_sketch.PNG]
+Attendance information is logged on paper for every meeting and submitted to the College of Computing for record-keeping.
-== Meetings ==
+*[[Minutes_Log|Minutes Log]]
 == Documentation ==
@@ Line 71: / Line 89: @@
 == Testing ==
-[http://wiki.robojackets.org/mediawiki/RoboCup%20Testing RoboCup Testing]
+[http://wiki.robojackets.org/mediawiki/RoboCup Testing RoboCup Testing]
+== General Specifications ==
+=== Coordinate system:[[File:Wheel Angles.jpeg|thumb|center|600px|Coordinate System and Wheel Angles]] ===
+*Origin at the very center of the bottom plate, 0.25" below it in the y axis (height)
+*The Z axis is oriented towards the rear, so the mouth is in negative
+===  ===
+*The X axis is oriented towards the right of the robot
-== Quick Notes ==
+=== Mass: ===
+*4.68 bl mas
+=== Mass Moment of Inertia: ===
-*field area 5 meters x 3.5 meters<br/>*max ball speed - 10 m/s<br/>*ball diameter - 43 mm<br/>*ball mass - 46 grams<br/>*1 rpm = .105 rad/s<br/>*ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]<br/>*coefficient of static friction of golf ball on felt carpet - .66<br/>**last two points from Cornell 2003 Mechanical Documentation
+*Ixx = 18.5298 lbmass in<sup>2</sup>
-== Prototype Notes ==
+===  ===
-*make drive module shaft out of stronger material to prevent bending<br/>*ground clearance needs to be increased to prevent the robot from rubbing on the carpet<br/>*4mm holes on the dribbler assembly need to changed to .177" - clearance hole for a 8-32 screw - ease of assembly, prevent burring of the dribbler shafts<br/>*binding of the drive modules can be reduced by adjusting the position of the motor, using the tolerance of its mounting screws<br/>*design plastic guide block so hole for chipper hinge is centered<br/>*dribbler motor plate needs to be wider and flush to the motor<br/>*M2x4mm screws need to be ordered for the dribbler motor<br/>*consider increasing diameter of dribbler roller to add strength to the piece
+*Ixy = -0.459 lbmass in<sup>2</sup>
+*Ixz = 0.089 lbmass in<sup>2</sup>
+*Iyy = 25.488 lbmass in<sup>2</sup>
+*Iyz = -0.159 lbmass in<sup>2</sup>
+*Izz = 17.66 lbmass in<sup>2</sup>
-== Useful Links ==
+=== Center of Mass: ===
-*[http://www.cis.cornell.edu/boom/2005/ProjectArchive/robocup/ Cornell Documents] (Look at 2003)
+*x = -0.0009.
+*z = -0.3
-*[[Ftp:[[Ftp:ftp://ftp.itam.mx/pub/alfredo/PAPERS/SotoWeitzenfeld80LARS2006.pdf|Eagle|ftp://ftp.itam.mx/pub/alfredo/PAPERS/SotoWeitzenfeld80LARS2006.pdf%7CEagle]] Knights Dribbler Testing]]
+=== Wheel Placement: ===
-*[http://www.sdp-si.com/D220/D220cat.htm#T35 Mechanical Engineering Tips]
+==== Wheel Angles: ====
-*[http://www.linuxcnc.org/handbook/gcode/g-code.html G-Code Tutorial]
+*The rear wheels are oriented at 45� from the z axis
+*The front wheels are oriented at 83� from the rear motors
-*[http://robojackets.org/%7Ecircuitben/ Overhead camera footage from Robocup 2007 Championship Match]
+==== Wheel Distance: ====
-*[http://www.drgears.com/gearterms/GearTermIndex.htm Dr. Gear - Gear Encyclopedia]
+The contact point with of the omniwheel and the surface is 3.144" from the center axis.
-*[http://shtylman.com/robocup_resource/mechanical/CornellRoboCupMechanicalDocumentation2004.doc Cornell 2004 Mechanical Documentation]
+===  ===
-*[http://pergatory.mit.edu/2.007/Resources/index.html#manufacturing MIT Design Handbook Index] (VERY GOOD)
+== Quick Notes ==
-*[http://thomasnet.com Global supplier and CAD drawing database]
+*Field Size:
+**For the 2014 year, two options were available for the field size:
+***Single-size field: 6050mm x 4050mm
+***Double-size field: 8090mm x 6050mm
+**For the 2015 competition year, the field size is locked in as the "Double-size field": 8090mm x 6050mm
+*Max ball speed - 8 m/s
+*Ball diameter - 43 mm
+*Ball mass - 46 grams
+*Ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]
+*Coefficient of static friction of golf ball on felt carpet - .66
+**
+*last two points from Cornell 2003 Mechanical Documentation
+== Useful Links ==
-&#x5B;&#x5B;Category:RoboCup&#x5D;&#x5D;&lt;br/&gt;&#x5B;&#x5B;Category:Mechanical&#x5D;&#x5D;&lt;br/&gt;&#x5B;&#x5B;Category:Year: 2007-2008|Year:_2007-2008&#x5D;&#x5D;
+*To be completed and appended to very soon
+[[Category:RC Mechanical]] [[Category:2014-2015]]

Difference between revisions of "RoboCup Mechanical 2015"

Latest revision as of 21:37, 24 May 2020

Contents

Background

Current Robots

Previous Issues

Improvements

Requirements

Primary Goals

Secondary Goals

Specifications

Mechanical Systems

Drivetrain

Integration

Ball Control

Testing

Machining Notes

Schedule

Meetings

Documentation

Testing

General Specifications

Coordinate system: Coordinate System and Wheel Angles

Mass:

Mass Moment of Inertia:

Center of Mass:

Wheel Placement:

Wheel Angles:

Wheel Distance:

Quick Notes

Useful Links

Navigation menu

Search

Coordinate system:

Coordinate System and Wheel Angles