Engineering Notebook – 02/06/2019

Attendance:

Alex, Drew, Zach

 

Goals:  

  • To prototype a design to see if the worm gear would hold the weight of the
    whole robot.
  • Try and fix the autonomous program so it will work during competition.

Meeting Notes Alex

  • Built a worm gear mechanism with the motor facing down
  • Attached a prototype of the worm gear mechanism in place of the linear lift
    to raise and lower the robot.
  • Experimented with worm gears.

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Engineering Notebook – 02/04/2019

Attendance:

Alex, Cameron, Zach, Drew

 

Goals:  

  • Finish assembling the full field
  • Discuss and attempt to solve the problems with the robot
  • Attempt to fix the autonomous program
  • Investigate different ways to make the linear lift go faster
  • Increase the efficiency of the robots driving skills by replacing the mecanum wheels

Meeting Notes Alex

  • We finished building the full field.

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  • We started to work on the autonomous program as the robot was not unhooking from the latch.
  • We raised the linear lift by a bit and found that that worked. We need to measure the distance and change the autonomous program.
  • We noticed that the meccanum wheels were digging into the mat.
  • We then swapped the meccanum wheels and ran the program again.
  • The meccanum wheels were still digging into the mat.

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Meeting Notes Zach

  • I started creating a new linear lift that used a worm gear instead of rack and pinion.

Meeting Notes Cameron

  • I removed and replaced hubs on old mecanum Wheels.
  • I added a new motor hubs to the new gray mecanum wheels.
  • I added the new mecanum wheels to the robot.

 

 

Engineering Notebook – 02/01/2019

Attendance:

Charles, Alex, Cameron, Zach

 

Goals:  

  • Finish double x rail bucket extension prototype
  • Finish chain controlled linear lift
  • Assemble mats and new field and ensure autonomous programs still work

Meeting Notes Alex

  • Helped assemble the full field that was recently bought.
  • Attempted to make a program that would fix the problem with the robot which was that the left wheels would get wedged into the mat.
  • Helped team mates when they needed it.

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Meeting Notes Charles

  • Charles and Cameron worked on the x rail system.
  • We got a new linear actuator system today, but decided not to use it since it’s circular, and tough to attach things to it.
  • We had to move one of the xrails farther away from the other so we could fit the bucket between them.
  • Since our axle has a limited length, we put the pulleys for the second x rail on the inside.
  • We attached the servo and c channel to the x rail so we could put an axle through, supporting our bucket.

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Meeting Notes Zach

  • Put a c-channel underneath the new linear lift to move it up off the wood because a sprocket was hitting the wood.
  • Attached the rest of the sprockets and attached the chain.
  • Put in a bolt and twisty tied the chain to the linear lift so when the chain turns the lift raises and falls.
  • Cleaned up the mess on the work bench.
  • Got the show robot working for tomorrow’s exhibition.

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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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