Our robot will be used to compete in the 2019-2020 FTC SkyStone game. The robot will fit inside an 18-inch cube and will be controlled with an Android-based Java control System.
An FTC match is split up into 3 parts.
- The robot will follow a pre-defined set of instructions to perform some tasks by using a combination of software logic and sensor inputs. No team input on controllers or likewise is allowed during this Autonomous period.
- The robot will follow commands as given by the drive team, which is comprised of 3 team members for each match. During the Tele-Op period, the robot will be under the control of the drive team and will continue to try and accomplish point scoring as determined by the game rules.
- End Game
- The robot commands continue to be given by the drive team. During this period, many scoring elements are able to be legally scored. This part of the match lasts 30 seconds.
2019/2020 Robot Components Overview
- Drive Train
- One of the most important parts of the robot is the drive train. The drive train is the component of the robot that allows the robot to move. Our drive train is made up of a CNC machined plate, 4 drive motors, and 4, 3″ Mecanum Wheels.
- Wheel Intake
- Our intake first began with prototyping different wheel types to use. we tried foam stars and compliance wheels but eventually decided to use two foam wheels we had. When testing we discovered that the plate on our robot stuck out too far so we had to cut and smooth it down so the block could go in smoothly. One of the other components on the intake is the corral, it is a metal U-shaped container that holds the block so the arm can come and grab it.
- Our Claw is a horizontal bar linkage sliding nub grabber. It went through 4 different iterations where we tried different ways of grabbing. Our first design had a plate that would hold the back of the block and the servo would swing down the arm and grab the block. we then decided to try and use a nub grabber, so we prototyped a version for that, the claw itself used a servo that would swing around similar to the first design but we found a few flaws in that so we eventually changed it to the sliding nub grabber.
- We have a multi-stage aluminum drawer slide lift that can lift up high enough to stack 9 blocks on the foundation. It uses a pulley system and we have experimented with many types of strings including kevlar, fishing line, and steel. It takes the arm up so we can swing the claw over and stack blocks on the foundation. The lift has probably been the hardest thing on our robot to get working properly. We used two motors on the bottom then changed it to one motor after realizing they were fighting each other.