Engineering Notebook – 01/26/2019

Attendance:

Charles, Zach, Cameron, Drew

 

Goals:  

  • Finish prototype of the 2 xrails holding the bucket
  • Finish prototype of the linear lift with a chain

Meeting Notes Charles

  • Cameron and Charles worked on the 2 xrails. One of them was finished, but we had to put both a c channel with room for a bucket between. To the side of the left one we put a motor with a small gear. Farther down the x rails, an axle was put through them, with a small gear touching the motor’s small gear. When we tested the left XRail, the string wasn’t moving. We realized it was because it was on a spacer, which spins independently of the axle, we got rid of the spacer, and it worked. The second XRail we made had longer xrails, so since it was a prototype, we just put it farther back and put the pulleys at the same spot as the other xrail’s pulleys. When we put elastic through the XRail, it didn’t retract well. We put lubricant on, but it was still slow. We had to change the XRail for a new one. When we did that, it worked well. We taped both strings to the axel and plugged the motor in to a battery. They worked well, but they started at different times due to being taped on different spots on the axle. We will fix that next meeting.

Meeting Notes Cameron

  • Charles and I built a prototype of the frame for the mechanism. The mechanism is two c-channels with x-rails on top that move when pulled by a string. The string is connected to a servo so when the servo moves, an axle moves the string, and both x-rails on each side move. The next step is for me to attach two c-channels so the bucket can be laced there. The bucket is attached to the axle so the string pulls everything when it moves.
  • I also helped move our group items into another building.

Meeting Notes Zach

  • Took links off chain
  • Attached new linear lift to wood plank
  • Started attaching sprockets and gears to the new lift

 

 

Engineering Notebook – 01/24/2019

Attendance:

Charles, Alex, Cameron, Drew

 

Goals:  

  • Discuss what changes (if any) we are going to make to our robot before the next competitions
  • Develop prototypes of the changes we want to implement

Meeting Notes Charles

  • We discussed what changes to make to our robot. We agreed that we should make changes on a new robot. We also decided that it’s better to have one mechanism for taking in minerals and another for dumping them. The motor for rotation will be gotten rid of and so will the 2 c channels holding the x rail.
  • Charles and Cameron created the plan for a new bucket. We will keep the same length and height, but change the width to 5.5 inches (2 * the diameter of spheres which are 2.75 inches.) We are also using a 2 segment XRail instead of 4. A servo will be put on the x rail with a small gear on it. Farther down on the XRail, the large gear will be placed next to the servo. The gear will attach to the bucket directly, but also have an axel going through the bucket. We will have 2 xrails to keep the bucket straight. We measured to total width of the mechanism, which was 9 and 5/16 without spacing. There was about 9.5 inches between the outside c channel, so we shortened the width of the bucket to 8.5 inches. We drew a net ( a 2D object able to be folded into a 3D object) of the bucket showing where we would have to cut and fold.

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Meeting Notes Alex

  • The team discussed ways to make the robot better involving making the bucket wider making the intake mechanism more effective and making 2 separate mechanisms one to grab the minerals and another to put the minerals in the lander.
  • Drew and I created a prototype of a linear lift using a sprocket and chain mechanism that would dump minerals into the lander.
  • We made a rough prototype of the mechanisms and finalized where the sprockets would go.

Meeting Notes Cameron

  • Charles and I planned out how we are going to assemble the new xrail and bucket. We have a system of gears, axles, hubs, and a motor

 

Engineering Notebook – 01/17/2019

Attendance:

Alex, Charles, Cameron

 

Goals:  

  • Change pinion in linear lift
  • Practice driving
  • Fix wire bending around robot

Meeting Notes Charles

  • We changed the pinion in the linear lift. We also noticed that one rack was faulty, so we changed it for a new one. We also flipped another one because it’s one end was too close to the end touching it. We put the cardboard back on.
  • A group of wires was bending around the robot to reach its destination. We rerouted it to go past the outside c-channel and into the robot. We zip tied it to other wires so it didn’t contact gears.
  • While we practiced driving, we were dragging the bucket on the ground a lot, which loosened the servo. We tightened the bolts with lock tight on them so it doesn’t happen again. We found that if we go to the left of the hook, since the bucket sticks out to the right. We also got a time of 16 seconds to get 2 minerals.

 

Meeting Notes Alex

  • We took the bucket off to make it tighter because it was slipping
  • We then reattached it and added locktight to the bolts so that it would be much harder for it to fall off
  • We edited the code to make the Gold_Marker_Crater_Auto move parallel to the wall
  • We then practiced driving the robot and saw that the screw in the bucket sometimes slips and falls out
  • We found that if we did not align the robot correctly on the lander the autonomous programs did not reach the crater. We practiced aligning the robot correctly on the lander

 

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Engineering Notebook – 01/16/2019

Attendance:

Alex, Charles, Zach

 

Goals:  

  • Practice driving
  • Add end pieces back on XRail
  • Program new smart servo
  • Fix linear lift slipping

Meeting Notes Charles

  • We found many loose bolts, especially on gears, that we tightened.
  • Since our old smart servo was broken, we attached a new one and programmed it. Once it was attached, we put the bucket back on.
  • The linear lift was slipping, so we tightened the gears in it’s system. This didn’t help it though. When we held the pinion, it didn’t slip. We will put on a new pinion next meeting.
  • We practiced driving. Two techniques that are helpful are:
    • Extending XRail partway, then extending and rotating it at the same time to save time and remove the need to dump the bucket.
    • Strafing and turning at the same time to curve around the lander.

  • We added a piece of cardboard on the end of the bucket to extend the range of it, but it only folded over and got in the way.

 

Meeting Notes Alex

  • We replaced the broken plastic tabs in the X-rail system
  • We replaced the old rev servo motor that was stuck
  • We reprogrammed the new rev servo
  • We attached the bucket and wires  and tested the robot
  • We practiced driving the found the gears were slipping
  • We found loose bolts and tightened them.
  • The lift mechanism is not lifting the robot and we plan to change the pinion which is slipping at the next meeting