RC08-Kicker

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