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Robot brief description: A.R.T. is a really awesome robot that has four motors and four sensors. All motors and sensors are used for completing the missions. A.R.T. has a claw for grabbing missions, a karate arm for the plane mission, and can be turned into a cool 4x4 monster robot! The front plow is used for pushing the vehicles and swiping missions.
Mechanical Design
Durability: We used as many connector pieces when constructing our robot for added strength. The outside of the robot is designed for protection and stability. Lift mechanism has two drive chains for added strength Whenever possible we added extra support for handling strength and repeatable movements. For example, if the drive motors for the wheels were not connected tightly, the robot wouldnt go to the same location every time which screws up the rest of the mission. We used a gear ratio with the drive motors for the wheels for added power and speed. Mechanical Efficiency: We kept the number of removable attachments to a minimum to help with set-up time and errors. For the attachments we have, the connection is simple and easy to remember. We used gears on drive motors for the wheels to help with the power used to move. Drive Train: Base robot: Two wheels driven by a two separate motors with a gear ratio of 40/24. Base robot with added 4x4 wheel lift attachment: Using the above wheels as the drive for the 4x4 wheel lift attachment through friction between the tires, and the 4x4 rear tires drive the front tires by chains with gears. Counterweight We added weights to the robot by the drive wheels to keep the wheels from slipping. Ease of Use Items: Easy access to battery charging port Attachment connectors contained on robot with easy assembly. Positioning Accuracy: Used sensors to steer and position the robot
Mission Attachments
4x4 attachment for obstacles to safe zone. Rear wheels are rotated by robot drive wheels (through friction) and 4x4 front wheels are driven by chains from rear wheels. Easily attaches to bottom of robot and allows height to get over obstacles. Very sturdy!
Programming
We used WAIT blocks to use sensors to help position the robot more accurately:
WAIT block using angle calculated by GYRO sensor
We used the two color sensors on the back corners of the robot to help align the robot up to the black lines
Corner 1 Sensor senses black line (turn reverse direction only one motor)
Programming
Using the motor controls for positioning robot, grabbing pets, and whacking the tree to drop the limb.
Forward
Grab pets
Whack tree
Turn back
Return to Base
We used the ultrasonic sensor to calculate the distance needed to damage only one tower:
Programming
Monster truck steering program to keep the robot south of the obstacle north line.
This loop keeps the robot turning towards the wall using the Gyro sensor
Mission Strategy