Difference between revisions of "RoboCupMechanical2008"

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==Mechanical System==
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This page houses the 2008 [[RoboCup]] Mechanical efforts. The 2007 efforts can be found [[RoboCupMechanical2007 | here]]. All development work will be done in Autodesk Inventor 2008. How to use Inventor and get it can be found on the [[How to Guide Inventor | Inventor How to Guide]]. Inventor is also available on our CAD Machines in Tin.
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This page breaks down the mechanical system of the Robots. The problem has been broken down into five phases as follows:
 
  
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==The Wall==
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Mechanical team meets Tuesday 6-9pm with the general meeting at 7pm and 2-6pm on Sundays. More hours will be announced as deadlines approach.
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[http://www.cis.cornell.edu/boom/2005/ProjectArchive/robocup/documentation/robocup/2003/2003ME.pdf Cornell Resource] -Ryan
 
  
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* Have ya'll checked out [http://robocup.mae.cornell.edu/documentation/robocup/2002/2002ME.doc these] [http://robocup.mae.cornell.edu/documentation/robocup/2003/2003ME.pdf papers] [http://robocup.mae.cornell.edu/documentation/robocup/2004open/CornellRoboCupMechanicalDocumentation2004.doc yet?] They are definately worth looking at. --[[User:AndyB|Andy]] 23:47, 26 September 2006 (EDT)
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[[Image:RC2008DevRender.jpg|thumb|right|A developement rendering of a 2008 RoboCup robot]]
  
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==Announcements==
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==Systems==
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: [[RC08-Components|System Components and Bill of Materials]]
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===Drivetrain===
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: [[RC08Omni|Omni Wheels]]
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: [[RoboCup Drive Motors/Gears|Motors/Gearing]]
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: [[RC08Drive Module|Drive Module]]
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===Integration===
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: [[RC08Shell|Shell]]
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: [[RC08Chassis|Chassis]]
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===Ball Control===
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: [[RC08-Dribbler|Dribbler]]
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: [[RC08-Kicker|Kicker]]
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: [[RC08-Chipper|Chipper]]
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: [[RC08BallSens|Ball Sensor]]
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===Testing===
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: [[RC08METestRig|Test Rig]]
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: Slope
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: Impact Test
  
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'''10-30-06'''
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==Schedule==
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I will be late to the meeting.
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* delivery of completed team of Robots 5/21/08
  
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To do list:
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==Specifications==
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1)Create single document with all needed parts and part #'s for ordering.
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* maximum robot weight - 1.8 kg
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* ball speed after being kicked - 10 m/s
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* dribbler bar speed - 8000 rpm
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* compress time (time for dribbler to absorb ball's energy and compress) - .2 seconds
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* no more than 20% of the ball's area (seen from top view) may be occupied by the robot - a critical Robocup SSL Rule
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** see [[image:Ball sketch.PNG|250 px|Ball sketch]]
  
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2)Drive Train: Encoders we found, will not work.  Electrical team is looking for another encoder.  Work on CAD model, put in bearings for axles, and mounting plates.  Cantilever wheels are ok.
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==Meetings==
  
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3)Manipulator: Select components to populate order sheet (see above).  Begin modeling in CAD.
 
  
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-Ryan
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==Documentation==
  
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'''Update 10-12-06'''
 
  
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I edited the Dribbler page with some useful info.
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==Testing==
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[[RoboCup Testing | RoboCup Testing]]
  
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-Pat
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==Quick Notes==
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* field area 5 meters x 3.5 meters
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* max ball speed - 10 m/s
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* ball diameter - 43 mm
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* ball mass - 46 grams
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* 1 rpm = .105 rad/s
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* ball material - DuPont Surlyn Ionomer [http://www2.dupont.com/Surlyn/en_US/ Dupont's Surlyn Page]
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* coefficient of static friction of golf ball on felt carpet - .66
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** last two points from Cornell 2003 Mechanical Documentation
  
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Found bevel gears, but we will still need a coupler or custom shaft. Bevel Gears (sdp-si) part #:
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==Prototype Notes==
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A 1B 3MYK05040 - same gears, 1 to 1 ratio.
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*make drive module shaft out of stronger material to prevent bending
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*ground clearance needs to be increased to prevent the robot from rubbing on the carpet
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*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
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*binding of the drive modules can be reduced by adjusting the position of the motor, using the tolerance of its mounting screws
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*design plastic guide block so hole for chipper hinge is centered
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*dribbler motor plate needs to be wider and flush to the motor
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*M2x4mm screws need to be ordered for the dribbler motor
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*consider increasing diameter of dribbler roller to add strength to the piece
  
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-Brian
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==Useful Links==
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* [http://www.cis.cornell.edu/boom/2005/ProjectArchive/robocup/ Cornell Documents] (Look at 2003)
  
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'''What to do 10/12/06:'''
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* [ftp://ftp.itam.mx/pub/alfredo/PAPERS/SotoWeitzenfeld80LARS2006.pdf Eagle Knights Dribbler Testing]
  
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''Manipulator team:'' Continue reading documentation, try to make headway towards seleceting solenoids (for shooting mechanism) and motor (for dribbler). There is someone working on the solenoids in the electrical group, so when you have some information get with him.
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*[http://www.sdp-si.com/D220/D220cat.htm#T35 Mechanical Engineering Tips]
  
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''Drive Train Team:'' Select a set of bevel gears, coupler (if needed, may be able to avoid because of bevel) and specifically which gear box. After that is done, work on putting all these componenets in inventor and placing them in the robot dimensions.
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*[http://www.linuxcnc.org/handbook/gcode/g-code.html G-Code Tutorial]
  
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-Ryan
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*[http://robojackets.org/~circuitben/ Overhead camera footage from Robocup 2007 Championship Match]
  
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'''Homework!!!'''
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*[http://www.drgears.com/gearterms/GearTermIndex.htm Dr. Gear - Gear Encyclopedia]
  
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1) Go to Maxon motor's website.  Look at 6 W DC motors.  Look for accompanying gears ( keep in mind shaft length and diameter.  Look on www.mcmaster.com if you cannot find maxon gears).  Perhaps accompanying gearboxes.  Also, note physical size of motor and output RPM.
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*[http://shtylman.com/robocup_resource/mechanical/CornellRoboCupMechanicalDocumentation2004.doc Cornell 2004 Mechanical Documentation]
  
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2) Read Cornell Papers on Mechanical page.
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*[http://pergatory.mit.edu/2.007/Resources/index.html#manufacturing MIT Design Handbook Index] (VERY GOOD)
  
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3) Ponder on Dribbler speed and assumptions.
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*[http://thomasnet.com Global supplier and CAD drawing database]
  
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Due: October 2nd
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[[Category: RC Mechanical]]
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[[Category: 2007-2008]]
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''Note''
 
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I will not be able to make it to meetings next week because I have to work. However I can still do stuff on my own time and post it on the wiki. You can email me at gtg372x, and I will be checking the wiki to see what needs to be done. Also, the morph sketch and solenoid inventor files are up.
 
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-Shaun Houlihan
 
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==Roadmap==
 
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*Phase 1
 
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**Simple prototype with holonomic drive train made from the Vex Robotics kit (Complete)
 
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*Phase 2
 
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**Build a second fully functioning prototype
 
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**Kiwi drive system
 
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**Dribbler and shooter
 
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**Built to competition dimensions and requirements
 
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*Phase 3
 
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**Detail design of entire mechancial system
 
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**Five robots
 
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**Design Presentation to ME department
 
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**Technical Drawings (AutoCAD or Inventor)
 
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*Phase 4
 
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**Purchase parts and assemble robot fleet
 
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*Phase 5
 
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**Test system and update designs
 
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==Index==
 
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*[[Parts List]]
 
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*[[Design]]
 
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*[[Motors]]
 
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*[[Drive Train]]
 
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*[[Dribbler]]
 
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*[[Kicker]]
 
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*[http://www.robotobjects.com/scripts/prodView.asp?idproduct=290 Wheels]
 
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*[http://www.omniwheel.com/transwheel/transwheel-2000.htm Transwheels]
 
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*[[Robot Weight]]
 
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*[[Drivetrain drawings]]
 
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*[[Dribbler/Kicker Rough Sketch]]
 

Latest revision as of 20:40, 24 May 2020

This page houses the 2008 RoboCup Mechanical efforts. The 2007 efforts can be found here. All development work will be done in Autodesk Inventor 2008. How to use Inventor and get it can be found on the Inventor How to Guide. Inventor is also available on our CAD Machines in Tin.

Mechanical team meets Tuesday 6-9pm with the general meeting at 7pm and 2-6pm on Sundays. More hours will be announced as deadlines approach.

A developement rendering of a 2008 RoboCup robot

Systems

System Components and Bill of Materials

Drivetrain

Omni Wheels
Motors/Gearing
Drive Module

Integration

Shell
Chassis

Ball Control

Dribbler
Kicker
Chipper
Ball Sensor

Testing

Test Rig
Slope
Impact Test

Schedule

  • delivery of completed team of Robots 5/21/08

Specifications

  • maximum robot weight - 1.8 kg
  • ball speed after being kicked - 10 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 Ball sketch

Meetings

Documentation

Testing

RoboCup Testing

Quick Notes

  • field area 5 meters x 3.5 meters
  • max ball speed - 10 m/s
  • ball diameter - 43 mm
  • ball mass - 46 grams
  • 1 rpm = .105 rad/s
  • 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

Prototype Notes

  • make drive module shaft out of stronger material to prevent bending
  • ground clearance needs to be increased to prevent the robot from rubbing on the carpet
  • 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
  • binding of the drive modules can be reduced by adjusting the position of the motor, using the tolerance of its mounting screws
  • design plastic guide block so hole for chipper hinge is centered
  • dribbler motor plate needs to be wider and flush to the motor
  • M2x4mm screws need to be ordered for the dribbler motor
  • consider increasing diameter of dribbler roller to add strength to the piece

Useful Links

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