RoboCupMechanicalDev2009

This page houses the complete current development schedule for the RoboCup 2009 Mechanical team.

Current To Do

2008 Fleet

1. Maintenance and Cleaning

2009 Fleet

1. Review Drive base and Chipper / Kicker Assembly.
2. Machine

   Omni Bodies

   Drive Plates

   Base Plates

   Dribbler Plates

3. Solenoid development

September 2009

1. Briefing of new members on 08 mechanical system.
2. Conduct a phased maintenance and overhaul on 2008 fleet. Two robots at a time. Starting with worst condition.
   1. Disassembly and Cleaning
   2. Modifying motor shafts by putting in holes for set screws.
3. Investigate part failures and problems.

   Omni Wheels

   1. O-ring retention on rollers.
   2. Carpet collection by omni wheels.

4. Getting members Autodesk Inventor 2009
5. Identify and assign subteams / subsystems

   Dribbler

   Drivetrain (Omni Wheel & Gearboxes)

   Kicker

   Chipper

   Chassis & Integration

Drivetrain

1. Procure appropriate carpet samples.
2. Design & Build test rig. Jack up 1 robot w/ small bocks, restrain it, and run 1 wheel on samples.
3. Compare with other teams omni rollers.

   RoboJackets 2008 RoboCup World Gallery

4. Develop conclusions and recommendations based on tests conducted.
5. Work with software team to get full movement performance metrics of last years robot.
6. As a starting point for working with gears consult:

   2007 TE Session Slide on Power Transmission (Pages 6, 7, 13 & 14)

   Wikipedia's Page on Gears

   WM Berg's Technical PDF on Gears (very comprehensive 40 mb +)

Kicker

1. Work with electrical team on custom solenoid design.
2. Look at other teams for reference & inspiration.

   1. CMU (http://www.youtube.com/watch?v=uqLA8prsVhw)

3. Compare last years design to other teams.

   RoboJackets 2008 RoboCup World Gallery

Chipper

1. Work with electrical team on custom solenoid design.
2. Look at other teams for reference & inspiration.

   1. CMDragons (CMU) (http://www.youtube.com/watch?v=uqLA8prsVhw)

Dribbler

1. Work with software team to formulate a testing time line for last years dribblers and construct performance metrics.
2. Compare last years with other teams dribblers.

   RoboJackets 2008 RoboCup World Gallery

3. As a starting point for working with gears consult:

   2007 TE Session Slide on Power Transmission (Pages 6, 7, 13 & 14)

   Wikipedia's Page on Gears

   WM Berg's Technical PDF on Gears (very comprehensive 40 mb +)

October 2008

Deliverables

1. Omni wheel prototype (physical).
2. Prototype of new gear box (CAD).
3. Dimensions of kicking solenoid.

   Width, Length, Diameter of shaft.

4. Performance evaluation of dribbler.

   Compare & contrast segmented vs full.

   Formulate design recommendations

Drivetrain

Omni Wheel

1. Find carpet samples.
2. Test last years wheels on various carpet samples.
3. Develop a prototype with design changes.
4. Test Prototype

Gear Box

1. Look at internal gears.
2. Develop CAD prototype of a new gear box.

   Constraints

   • 5/16 Hex Shaft to mount wheel
   • 4 mm motor output shaft

Kicker & Chipper

1. Start meeting with electrical team on solenoid design.

   Look at Magnetic field & Electromechanical solenoids.

Dribbler

1. Test current dribbler

   Receiving a pass

   Getting a stationary ball

2. Design & Fabricate 2 shafts

   Full length (Note already have)

   Segmented

November 2008

Deliverables

1. Omni wheel prototype (CAD).
2. Prototype of new gear box (CAD).
3. Performance evaluation of dribbler.

   Compare & contrast segmented vs full.

   Formulate design recommendations

Drivetrain

Omni Wheel

1. Find carpet samples.
2. Test last years wheels on various carpet samples.
3. Develop a prototype with design changes.
4. Test Prototype

Gear Box

1. Look at internal gears.
2. Develop CAD prototype of a new gear box.

   Constraints

   • 5/16 Hex Shaft to mount wheel
   • 4 mm motor output shaft

Kicker & Chipper

1. Work with electrical team to build rev 1 prototype.

Dribbler

1. Test current dribbler

   Receiving a pass

   Getting a stationary ball

December 2008

Deliverables

1. Omni wheel prototype (physical).
2. Prototype of new gear box (physical).
3. Kicking solenoid (physical).
4. Dribbler (CAD).

January 2009

Deliverables

1. Omni wheel final (CAD).
2. Final rev of new gear box (CAD).
3. Prototype of chipper (physical).

February 2009

Deliverables

1. Final kicker. (CAD)
2. Final chipper. (CAD)