7021
Robotics
Trempealeau County Robotics
Chassis and Drivetrain
The chassis is 100% made from 1/4'' 6061 aluminum sheets using our waterjet.
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All of the parts of the chassis were either made on our waterjet or Haas CNC machines.
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The drivetrain has 6'' VEX mecanum wheels with one large CIM motor per wheel.
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The drivetrain also has 6'' Omni wheels in the with 1/8 raise to only accommodate support when lifting on habitat.
Rear Lift
Our two rear wheels travel up and down on two Hiwin linear bearings and rails for Habitat climbing.
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Using an Igus lead screw and Drylin nut to move the rear end with a redline motor and AndyMark 4:1 gearbox.
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We are using a 360 pulse per revolution rotary encoder for accurate positioning.
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The rear lift uses two automaton Direct proximity sensors for over travel limits.
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We are using an Igus cat track for wire management.
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Elevator Extend and Retract
The elevator extends and retracts on two Hiwin linear bearings and rails.
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It is driven by a relines motor and AndyMark 12:1 gearbox.
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It uses two Automaton Direct proximity sensors for over travel limits.
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It also uses a 360 pulse per revolution rotary encoder for accurate positioning.
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Also uses an Igus cat track for wire management.
Elevator Up/Down
The elevator is lifted using a standard CIM motor and AndyMark 36:1 gearbox.
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The mast is made from 80/20 20mm extrusion.
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It has custom rollers and brackets for guides.
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It utilizes rope for pulling up and pulling down effect for 3 stages.
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It also uses 3 Automation Direct proximity switches for over travel limits.
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Uses Igus cat track for all wire management.
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Uses a 360 pulse per revolution encoder for accurate positioning.
Intake System and Limelight
Two green 4'' AandyMark wheels driven by two Redline motors with 12:1 gear boxes for Cargo.
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It uses a custom vacuum pump that was modified by our team using COP motor.
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Schmalz spring plungers and vacuum cups for Hatch.
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For the limelight, for sandstorm period as well as locating the Hatch and Cargo positions.
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The limelight has ball and reflective indicator tracking.
Programming
Command based structure to allow parallel operation of subsystems.
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Elevator up/down, forward/ back operated on PID controllers to allow smooth approach and holding positions.
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Final climb for top and mid-level platforms automated to perform with a button press.
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Vacuum switch turns on light on operator panel so operator knows when he has grasp of hatch panel.
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Driver can side shift robot in manual mode to line up with targets.
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Safety code prevents motors from driving past limits.
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Autonomous chase and intake of balls.
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Autonomous alignment and intake of hatch panel from loading station.
Operator Control Station
Designed two different custom input and output boards using an Arduino processor to communicate with drive station.
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On our input board, we have 16 Siemens push buttons for elevator positions and autonomous Habitat climbing.
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On our output board, we are receiving signals from the robot and turning on Siemens indicator lights for vacuum present switch for the hatch panel and for end game activated indication.