TER3M/4M Summative Evaluation

Purpose The game for this years FRC competition is Arial Assist. In this game we were given the task to build a robot that can catch, pass/shoot a 24 inch ball with 2 more allied robots from other teams. My individual assignment was to make a design proposal for a mechanism that could shoot the ball at different heights and distances. For my design, I thought of a catapult system. The catapult would be servo motor chain driven to get the proper amount of height and distance to clear the truss in or shoot for the goal. Research Robot requirements One robot, must have all mechanisms inside bumper zone before game begins Frame perimeter may not exceed 112 inches, may not extend more than 20 inches from frame, height must be under 60 inches, extension over 60 inches may not exceed 6 inch diameter, weight less than 120lb without battery and bumper Balls must be able to be removed from robot while powered off No special traction devices like sandpaper, metal, or hard plastic studs Subsystem design Theory of operation: My design would be able scoop up the ball and fling the ball in the desired direction. The spoon-like part of the catapult is dimensioned 12 inches so that it can hold the 24 inch ball without dropping it. It would also allow the robot to move around without dropping the ball with ease. The robot would move up to collect the ball, the proximity sensors would recognize the ball and move to the correct angle to collect it. After it has been scooped up, then the arm would hold it level to the floor until it reaches the shooting or truss pass area. After that, the robot would toss the ball and the spring would stop the motion of the arm at 90 degrees so that the ball gets the maximum height and distance. Bill of Materials 040.5-RP Bimba Air Cylinder, spring extend w/ nut (am-0591)-$34.00 Hi-Tec Servo, model HS-75BB (am-2584) x2 - $60 for two Ultrasonic proximity sensor, EZ, MB1013, MaxBotix (am-2434)-$35.00 Test procedure proposal Place robot in a large open area. Pre-programming: Autonomous mode: Set proximity sensors to scoop the ball when x distance away from the sensor, set proximity sensors to toss the ball when x distance away from truss or goal. Steps: 1. 2. 3. 4. 5.

Turn robot on Start autonomous mode Roll the ball towards the robot Proximity sensors to detect the ball and move to gather it Adjusts angle to make shot after picking up the ball

Regular driving: Pre-programming: Set proximity sensors to scoop the ball when x distance away from the sensor, set servo motors to respond to analog signal from driver station. Steps: 1. 2. 3. 4. 5. 6.

Turn robot on Start regular mode Roll the ball towards the proximity sensors Proximity sensors detect the ball and robot scoops up the ball The driver directs the robot towards the truss and or goal Then fling the ball with the press of a button.

Conclusion This design may have many flaws but it is very convenient for the driver because they dont have to manually scoop up the ball. It is not very accurate when it comes to shooting because of its primitive shooting system. The scoop and toss method isnt very reliable either. But this is a decent idea because it is convenient to the driver.