In DESTINATION: DEEP SPACE, presented by The Boeing Company, we join two competing alliances collecting samples on planet Primus. Unpredictable terrain and weather patterns make remote robot operation essential to their mission on the planet. With only two minutes and thirty seconds until liftoff, the alliances must gather as many cargo pods as possible and prepare their spaceships before the next sandstorm arrives.
This year’s robot was designed with a focus on securing the hatches and climbing onto the high Hab platform. With a goal of earning ranking points, an elevator was designed to enable hatch placement on all ports of the rocket.
The “Bloom” features three petals that flare out to capture and control the hatch for transport to the rocket and cargo ship. It is manufactured from a 3D printed base and arms, fiberglass composite petals, and a Bosch seat motor for rotational actuation.
This year’s robot is using four wheeled mecanum drive to be fast, maneuverable, and hard to push around. Additionally, in order to accomplish leaping off the Hab during the sandstorm, the team design and manufactured carbon fiber leaf springs to attach to each fiberglass drive module.
To reduce the weight of the drive modules, students designed and fabricated fiberglass transfer cases that connect mini-CIMs and Versa Planetary Gearboxes to the drive wheels using internal belts and pulleys.
Our electrical system is planned and laid out to minimize confusion from overlapping wires and to reduce weight of the finished competition robot.
This year’s robot is using the NVIDEA TX-1 to do onboard vision processing with Python. The results of the vision processing are ported to the RoboRIO using Open CV.
In addition to using LabView, we are using Python this year for vision processing on the Jetson TX-1. The TX-1 will communicate with the RoboRio so that our code, as a whole, runs more efficiently for better control of the robot.
Building off of our prior accomplishments in N-Wheeled Holonomic Drive, which were based on control using velocity, we’ve addded position-capable control. This gives us much more accurate control of positioning for semi-autonomous modes.