The Manipulator Team and their Prototypes

The manipulator team figures out how to deal with the field elements - how to pick up and deliver objects to their scoring conditions, and how to interact with any items on the field.

Climbing the Rope

Worth 50 points in the last seconds of the match

Using 3-D printing to rapid prototype different concepts of winches focused on various styles of ropes and procedures, we came to a design that worked efficiently and effectively. Using prongs (bunny ears) to catch a knot on the end of a rope, it pulls itself up by rotating the drum and has built in channels and sidewalls to both direct the rope to the center for grabbing and to keep the rope wrapping on the winch if it sways while elevating. Laser cutting has also been beneficial to testing the various climbers, as its used to create the mounts and sidewalls. Using the cutter allows us to create designs and test them quickly, and efficiently make changes.

Using a mini-CIM as a powersource, and finding that a 3” diameter drum would give us the grabbing capabilities we desired, a 63:1 Planetary gearbox would give us the speed and tourque to lift 150 pounds of fiberglass, rubber and copper off the ground. this way we dont need to worry about hitting the robot weight limit.

Picking Up Gears

Gripping and Lifting the Gears from the Ground

Designed to use window motors and the seat motors, this system grasps the gears from the sides with two pivoting, high friction claws. Both claws are mounted to a frame that itself has a pivot point on the robot base. Once in target of a gear, the claws will be rotated down in an opened position. The window motors will then rotate the claws and press on opposite ends of the gear. They will only press with enought force to keep the gear traped while the gear is taken from a horizontal to a vertial position. This is done using the pivot point connecting the claw frame and robot. Once in the vertical position the gear is at the right height to be placed on the airship’s peg. 

Scooping Up Gears

Roller Intake

This design consist of three proxiity sensors one located in the front under the banebots wheels simulating the 4” compiant wheels at 45A Durometer supplied by Andymark, to spin backwards to intake the gear to the next sensor located at the back of the robot in where the gear can also be taken in which tells the compliant wheels to spin foreward, pushing the gear back towards the front where the gear comes into contact with the banbots wheels, then pushing the gear upward to the placing position. Once the gear reaches a third proximity sensor telling all wheels to stop spinning, it is able to be placed on the peg of the airship, where the human player then pulls the gear out of the robot. the compliant wheels are located 1/8” below the top of the laid down gear. this measurement was concluded after testing a prototype that supplied a 1/4” squish, which was too much and moved the prototype across the floor instead of the gear. the process of taking the gear in from the front is executed by allowing the bottom row of banebots 1 3/8”  40A wheels to swivel upward allowing the gear to be taken in by the second row of the same banebots wheels. These banebots wheels only spin upwards since it pushes the gear up for placing and will also intake the gear when intaking from the front. Once the gear is taken in by the intake, the compliant wheels apply pressure to the banebots wheels, which pushes the gear upward to the placing position.

The Manipulator Team at Work

What’s the best way to interact with the field elements?