2.007 Strategies Adam Paxson. Strategy 1: Rotating Arm 2WD robot will drive to one of the ‘2’ or ‘7’ compartments to deposit the balls in the ‘0’ bins

2.007 Strategies

Adam Paxson

Strategy 1: Rotating Arm

• 2WD robot will drive to one of the ‘2’ or ‘7’ compartments to deposit the balls in the ‘0’ bins

• Balls will be picked up and moved by a rotating arm

• One motor can be utilized for actuating exponent arrows


5 seconds: move in front of bin


5 seconds: open compartment


30 seconds: move and deposit balls


5 seconds: move exponent arrow


• Scoring:– Specific and pre-defined movements– Small allowance for error

• Defense:– No dependence on roaming– Not enough time for other robot to block

• Offense:– No offensive aspects; inadequate propulsion


• Predicted score range:– No balls from the bin, only held balls are deposited,

arrow is not moved:• (0balls+0kpucks+1)bottom bin(5balls+0Npucks+1)0 bins20 = 6

– No balls from the bin, only held balls are deposited, arrow is moved:

• (0balls+0kpucks+1)bottom bin(5balls+0Npucks+1)0 bins24 = 96

– All the balls from the bin and held balls are deposited, arrow is moved:

• (0balls+0kpucks+1)bottom bin(20balls+0Npucks+1)0 bins24 = 336


• Risks:– Balls roll too far out of bins, not able to pick up– Opponent prevents arm from rotating– Opponent moves exponent arrow

• Countermeasures:– Attach a fence to prevent rolling– Attach a guard to protect rotation– Make arrow mechanism “clamp”

Strategy 2: Puck Lifter

• 2WD robot has an arm that lifts and drop pucks

• Pucks are put in both scoring areas to take advantage of multiplier

• Puck arm can also move the exponent arrows

• Robot also scores 5 held balls


5 seconds: collect 3 pucks


5 seconds: deposit pucks and balls


5 seconds: gather remaining pucks


15 seconds: deposit pucks into ‘0’ bin


10 seconds: move exponent arrow


• Scoring: – Utilizes bottom bin; reduced risk– Arm could possibly lift balls

• Defense:– Scores quickly; little chance of early disruption– Lifting arm can tip aggressors

• Offense:– No tactics; inadequate propulsion


• Predicted score range:– Pucks and balls are scored in bottom bin only, arrow

is not moved:• (5balls+3*3pucks+1)bottom bin(0balls+0Npucks+1)0 bins20 = 15

– Carried balls and all pucks are scored, arrow is not moved:

• (5balls+3*3pucks+1)bottom bin(0balls+3*3pucks+1)0 bins20 = 150

– Carried balls and all pucks are scored, arrow is moved:

• (5balls+3*3pucks+1)bottom bin(0balls+3*3pucks+1)0 bins24 = 2400


• Risks:– Robot falls into scoring bin– Arm misses ‘0’ holes– Opponent disrupts arrow movement

• Countermeasures– Rails on bottom of robot to back up over corners– Bump into bins for alignment– Make arrow mover extendable to reach over

opponent

Strategy 3: Bulldozer with Minibot

• 4WD tracked vehicle with massive driving power

• Minibot with stored energy to clamp to bins and move exponent arrow

• Special plow to scoop balls from middle


10 seconds: move up to bin, scooping out balls from the center


20 seconds: deploy minibot on bins, return while pushing balls and pucks into bin


15 seconds: disrupt opponent


• Scoring:– If robot achieves proposed strength and

maneuverability, scoring will be highly probable– Bottom bin is very easy to score in

• Defense:– Robot will be able to push opponents – Most middle balls will be on Bulldozer’s side

• Offense: – Tracks will expedite crossing of middle– Minibot can have mechanism to pin opponent’s arrow

at ‘0’


• Predicted score range:– Carried balls and pucks are scored, arrow is not

moved:• (5balls+3*6pucks+1)bottom bin(0balls+0Npucks+1)0 bins20 = 24

– Carried balls, pucks, and middle balls are scored, arrow is not moved:

• (35balls+3*6pucks+1)bottom bin(0balls+0Npucks+1)0 bins20 = 54

– All the balls from the bin and held balls are deposited, arrow is moved:

• (35balls+3*6pucks+1)bottom bin(0balls+0Npucks+1)0 bins24 = 864


• Risks:– Minibot is hindered by opponent– Opponent scores before bulldozer is able to

cross the centerline

• Countermeasures:– Attach minibot quickly to be able to defend– Score pucks and balls quickly; prevent

opponent from reaching exponent arrow

Best Strategy: Puck Lifter

• Extremely high scores are possible

• Driver can always rely on scoring in the bottom bin

• Dexterous arm provides best opportunity to move exponent arrow

Documents

2.007 Strategies Adam Paxson. Strategy 1: Rotating Arm 2WD robot will drive to one of the ‘2’ or ‘7’ compartments to deposit the balls in the ‘0’ bins