Difference between revisions of "RC08-Kicker"

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==Solenoid==
 
==Solenoid==
 +
*Push type solenoid from Solenoid City
 +
*1.25" diameter, 2" long
 +
 +
[http://www.solenoidcity.com/solenoid/tubular/s-20-125hp1.htm S-20-125-H]
 +
 +
==Calculations==
 +
*Solenoid city spec's at 10% duty cycle: pulse
 +
*vector of stroke and force are numerically integrated - using the Work-Energy Principle
 +
* Work= change in Kinetic energy
 +
 +
===Work===
 +
* stroke (MUST CONVERT MM TO METERS FOR UNITS TO BE IN JOULES)
 +
**[1.3 6.4 12.7 19.4 25.4]
 +
* force (UNITS: NEWTONS)
 +
**[45.6 30.5 18.1 9.6 3.1]
 +
 +
*Integrate via TRAPZ function in MATLAB
 +
*Mechanical Work turns out to be: .4758 J
 +
 +
===Kinetic Energy===
 +
*total KE of ball is KE(translation) + KE(rotation) which for a sphere with I=2/5mr^2
 +
*total KE= 7/10*m*v^2
 +
 +
* now W=KE
 +
*ball assumed to be at rest - not always the case. however final speed of the ball is lowest when the the ball is initially still
 +
* W = KE2-KE1 so then KE2=7/10m*vfinal^2=W+KE1
 +
 +
* for this solenoid - final velocity of the center of the ball to be: 3.844 m/s
 +
 +
 +
 +
 +
 +
 +
 +
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==2007 Solenoid==
 
*Solenoid from '07 season. S-20-100-H from Solenoid City, ~ $39
 
*Solenoid from '07 season. S-20-100-H from Solenoid City, ~ $39
 
*[http://www.solenoidcity.com/solenoid/tubular/s-20-125hp1.htm S-20-100-H]
 
*[http://www.solenoidcity.com/solenoid/tubular/s-20-125hp1.htm S-20-100-H]

Revision as of 01:05, 19 December 2007

This page contains the information and documentation of the 2008 kicker system

Robocup 2008 Mechanical

Solenoid

  • Push type solenoid from Solenoid City
  • 1.25" diameter, 2" long

S-20-125-H

Calculations

  • Solenoid city spec's at 10% duty cycle: pulse
  • vector of stroke and force are numerically integrated - using the Work-Energy Principle
  • Work= change in Kinetic energy

Work

  • stroke (MUST CONVERT MM TO METERS FOR UNITS TO BE IN JOULES)
    • [1.3 6.4 12.7 19.4 25.4]
  • force (UNITS: NEWTONS)
    • [45.6 30.5 18.1 9.6 3.1]
  • Integrate via TRAPZ function in MATLAB
  • Mechanical Work turns out to be: .4758 J

Kinetic Energy

  • total KE of ball is KE(translation) + KE(rotation) which for a sphere with I=2/5mr^2
  • total KE= 7/10*m*v^2
  • now W=KE
  • ball assumed to be at rest - not always the case. however final speed of the ball is lowest when the the ball is initially still
  • W = KE2-KE1 so then KE2=7/10m*vfinal^2=W+KE1
  • for this solenoid - final velocity of the center of the ball to be: 3.844 m/s





2007 Solenoid

  • Solenoid from '07 season. S-20-100-H from Solenoid City, ~ $39
  • S-20-100-H

Kicker plate

  • must be aluminum - doesn't deform as much as plastic, and ligther than steel

Ball Speed

  • goal: 10m/s