Difference between revisions of "RoboCupMechanical2008"

From RoboJackets Wiki
Jump to navigation Jump to search
(Systems)
 
(103 intermediate revisions by 4 users not shown)
Line 1: Line 1:
This page houses the current 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.
+
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.
  
Mechanical team meets Monday at 7pm and after the general meeting on Thursdays at 6:30
+
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.
 +
 
 +
[[Image:RC2008DevRender.jpg|thumb|right|A developement rendering of a 2008 RoboCup robot]]
  
 
==Systems==
 
==Systems==
* Drivetrain
+
: [[RC08-Components|System Components and Bill of Materials]]
** [[RCOmni|Omni Wheels]]
+
===Drivetrain===
** [[RoboCup Drive Motors/Gears|Motors/Gearing]]
+
: [[RC08Omni|Omni Wheels]]
* Integration
+
: [[RoboCup Drive Motors/Gears|Motors/Gearing]]
** Shell
+
: [[RC08Drive Module|Drive Module]]
** Chassis
+
===Integration===
* Ball Control
+
: [[RC08Shell|Shell]]
** Dribbler
+
: [[RC08Chassis|Chassis]]
** Kicker
+
===Ball Control===
** Chipper
+
: [[RC08-Dribbler|Dribbler]]
 +
: [[RC08-Kicker|Kicker]]
 +
: [[RC08-Chipper|Chipper]]
 +
: [[RC08BallSens|Ball Sensor]]
 +
===Testing===
 +
: [[RC08METestRig|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 [[image:Ball sketch.PNG|250 px|Ball sketch]]
 +
 
 +
==Meetings==
 +
 
 +
 
 +
==Documentation==
 +
 
 +
 
 
==Testing==
 
==Testing==
 +
[[RoboCup 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 [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
 +
 +
==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
  
Dribbler test
+
==Useful Links==
 +
* [http://www.cis.cornell.edu/boom/2005/ProjectArchive/robocup/ Cornell Documents] (Look at 2003)
  
Trap ball
+
* [ftp://ftp.itam.mx/pub/alfredo/PAPERS/SotoWeitzenfeld80LARS2006.pdf Eagle Knights Dribbler Testing]
* 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
+
*[http://www.sdp-si.com/D220/D220cat.htm#T35 Mechanical Engineering Tips]
* 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
+
*[http://www.linuxcnc.org/handbook/gcode/g-code.html G-Code Tutorial]
* Measure either the lifetime of the dribbler under continuous operation and visually inspect the dribbler.
 
  
Kicker
+
*[http://robojackets.org/~circuitben/ Overhead camera footage from Robocup 2007 Championship Match]
* 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
+
*[http://www.drgears.com/gearterms/GearTermIndex.htm Dr. Gear - Gear Encyclopedia]
* Range- to where the ball lands
 
* Angle- accuracy to how close the ball lands
 
* Lifetime analysis same as kicker
 
  
Shell impact
+
*[http://shtylman.com/robocup_resource/mechanical/CornellRoboCupMechanicalDocumentation2004.doc Cornell 2004 Mechanical Documentation]
* Maximum speed ball at different areas of the shell until it breaks
 
  
Omni wheels
+
*[http://pergatory.mit.edu/2.007/Resources/index.html#manufacturing MIT Design Handbook Index] (VERY GOOD)
* Traction- run the robot up an incline
 
  
==Useful Links==
+
*[http://thomasnet.com Global supplier and CAD drawing database]
* [http://robocup.mae.cornell.edu/documentation.php Cornell Documents] (Look at 2003)
 
  
[[Category: RoboCup]] [[Category: 2008]]
+
[[Category: RC Mechanical]]
 +
[[Category: 2007-2008]]

Latest revision as of 21:40, 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