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Killer Bees
Team 33
2017 Design
Buzz Xxii
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Killer Bees
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Killer Bees
Robot Design
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Killer Bees
Strategy The Killer Bees spend the first days of the build season
making a functional objective list. We rank these objectives in categories of yes,
maybe, and no based on how important of a priority the task is for our robot to
complete during a match. We keep this list present during the entire season to
make sure we remember the most important tasks to us for our robot to
complete.
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Prototyping During week 1 of build season, we make a list of
prototypes to build. This year we decided we needed to
make a one and a two-wheeled shooter, a fuel storage
device, a floor collector for fuel, floor collector for gear, and a hanging system.
We divided the team into separate hives to work on each subsystem’s prototype.
Gear Collector Initially, we tried out four ideas: two pneumatic claw variations (one of which was inspired by
our 2015 Recycle Rush robot), a sandwich-like slide track prototype, and a roller intake. The
roller intake is the design we choose with a 6° HDPE ramp. It proved to be the fastest, most
efficient, easiest to align, and most compact choice of the available design options.
Hanger We did a short drum and a full-length drum prototype. Both prototypes use
the hook Velcro epoxied onto a shaft. The short drum was a 2” diameter, the
second iteration was a ½” hex shaft with Velcro flaps. We saw that these flaps
helped to grab the strap better. The full-length version was a 3/4” hex drum
with the Velcro flaps. These full-length drums proved to be the most efficient
when lining up to hang by winding backwards to snag the hanging material
and winch the robot to pull upwards.
Fuel Collector We did three iterations of fuel collection devices. We initially tried rubber
bands on 48 tooth sprockets but it expanded too much so we sleeved it.
Then we did a test with surgical tubing but we still had expanding issues.
Next, we tested a sleeve of fabric that helped the expansion but it became
off centered easily. Finally, we prototyped a ½” rod with a surgical tubing
wrap floating and it worked great because it was light-weight, minimal
packaging, and gripping fuel.
Fuel Shooter
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Killer Bees
We prototyped both a double-wheel shooter and a single-wheel
shooter, both to shoot fuel into the high goal at a 70% accuracy and
15 balls per second. The single-wheel shooter started with 2”
AndyMark stealth wheels which was replaced with 65 durometer
conveyor wheel then full drum 65 durometers then they made a full
drum of 65 durometer wheels. The two-wheel shooter’s first iteration had 2 axles with 2.5”
Colson wheels to create two drum-like rollers, and was then changed to 2.5” PVC drums. The
third iteration used four axles of 2.5” PVC drums, as the wheels had more variability. We ended
up choosing the single wheeled shooter with 35 durometers because it had better repeatability
than the double wheeled shooter.
Ball Management We tested a prototype of urethane rubber belts but we encountered a dead space between
every belt so we developed a belt comb to keep the belts in place. We tried different speeds
and tensions with the belts. From the testing, we found that belts should run as fast as possible
and a little loose but not enough to walk.
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CAD and Fabrication
The CAD and Fabrication Process begins with the CAD
drawings. Each student or pair of students receives a
detailed drawing of a part, designed in Autodesk Inventor Professional. To provide
extra care for every part, each student uses the mentality of measure twice, cut
once. After fabrication of the part is complete, each part must be approved by a
mentor. If the part is good and meets the demands, then it will be placed into a
designated robot bin for assembly. If the part does not meet satisfactory levels,
then the student will work with a mentor to adjust the part to meet demands.
Assembly
We make two robots: one practice and one competition. The robots are
assembled from parts made in the fabrication process. They are all labeled and
wrapped in their CAD render, which facilitates assembly. Mentors assist students
to clear up any questions. After we make the parts, we assemble parts into
subsystems from CAD model assembly drawings.
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Chassis 1/10” versatube frame 26” x 28” Two 3.25” caster wheels and two 3.25” traction
wheels 25 pitch chain placed inside tube for chain retention and neatness Gearbox
geared for 15ft/sec 6 mini CIM drive Pneumatic fittings for cooling
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Hopper/Cage Wall Extends hopper to 35” total when fuel collector is
pushed out Two 4lbs constant force springs Motivated by fuel collector Allows the robot to hold over 100 balls
Fuel collector
Main structure 1” x 2” x 1/2” box with 775pro with 3:1 versaplanetary gearbox
reduction 1/2” hex shaft with gum rubber 1” x 1” x 1/2” box with 1”x 1/2” bar 1” x 1/2” box 1.35” aluminum bar Delrin pivot mounts
1/2” floating roller with surgical tubing Ball guides of HDPE 1/4” wheeled guides
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Killer Bees
Shooter
Shooter 1/8” aluminum sheet metal water jetted
parts Four 4” x 1.875” 35 durometer polyurethane wheels Three 775pro motors 5:1 pulley reduction for the flywheel Lightweight standoff structure 1/16” Rigid Hood aluminum 3.5” x 12.5”
Vertical feeder 775pro with 3:1 pulley reduction Three 1” OD aluminum tube 1.25” OD surgical tubing
Floor Conveyor feeder 775pro with a 5:1 versaplanetary Three 32” urethane belts Two 1” aluminum rollers HDPE belt comb
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Killer Bees
Gear collector Main structure 25” x 6” deep angled throat Independently actuated polycarbonate tongue with
6° from floor to collect gear 40° polycarbonate pieces on edge to center gear in throat Twelve 2” rubber compliant wheels across opening Aluminum 1/2” cam to stop tongue from back driving Run by 775pro and Two Bag motors Ten 1” polycarbonate flaps to stop the spring from penetrating the
collector
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Divider wall 1/2” x 1/2” x 1/8” aluminum box 24” x 17” frame 1/16” polycarbonate spring shield
Rope Climber 100:1 versaplanetary reduction on a single 775pro motor 24”x 1/2" hex shaft 21” x 1/2" x 1/2” hex tubing 2” flanged Velcro flaps 1/2” ratcheting wrench
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Programming Labview based, 5 Main stages
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Initialization
o Set up sensors and motors to be used later
Input Processing
o Read sensors and joystick, translate to usable units HMI/Auton
o Use Inputs data to translate into what the machine wants to do
Control
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o Figures out how the machine should do what it wants to do
Output Processing
o Gives the commands to the motors so the machine does
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Electrical 2 SICK proximity sensors – Detect Gear once in the
arm
NavX inertial measurement unit – For use in determining the heading of the robot during autonomous routines, also used in ensuring the heading is constant during teleop when driver pushes a button
Magnetic position encoder – Measure the speed of the flywheel for our shooter
2 Quadrature optical encoders – To determine the distance the robot traveled during autonomous
2 Potentiometers – To determine the position of the gear arm and the gear arm tongue for PID control
Pneumatics Two 10” pistons which deploy the fuel intake and extend the hopper
simultaneously
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SPONSORS Fiat Chrysler Automotive is the seventh-largest automaker in the world, designs, engineers, and manufacturers. They sell passenger cars, light commercial cars, components, and production systems worldwide. Innovation First International (IFI) was first started with producing the electronics for autonomous parts for ground robotics, then started to be a leader in educational and competitive robotics products. They have become a growing developer of consumer robotics toys. Hubbard Spring started in 1905 with leaf springs and harrow teeth, and have now come to produce a variety of parts, from standard to custom parts for many different industries, including, aerospace, automotive, agriculture, and medical. TI Automotive is a global automotive industry that produce award-winning, industry-leading automotive fluid systems. They have provided technology to vehicles around the world for almost 100 years. Elite Fencing is a manufacturer of superior quality ornamental aluminum fencing, railing, pool fences, and gates and has been since 1986. Their staff has over 40 years of experience in this business. They have stellar customer service and superior products.
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OUTREACH
RoboZone In 2015, we launched RoboZone, a weekly television show featuring Michigan
FRC competitions. Viewed on the same state-wide network as the Detroit Tigers,
a Major-League Baseball team, the show brings FRC to homes and businesses.
Advertisers are expecting 1.8 million
impressions/viewers in 2017. In its
rookie year, RoboZone was honored
with an Emmy® award.
FIRST Badges We lead a statewide project, FIRSTBadges.com, with the Michigan Department of
Education. This innovative micro-credential program demonstrates a student's
STEM skills acquired in FIRST for future employers and college applications. We
design the badge icons and field test the badge requirements. Digital badge topics
include Communication, Marketing,
Leadership, Electronics, Engineering Design,
and Machining. There are currently 47 teams
participating, with over 100 student badges
awarded.
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Diversity Challenging traditional gender roles, we run an annual All
Girls FRC tournament with teams 68, 2834, and 469 each year for the last 4 years.
We set up a scholarship fund for team participants, awarding $12,000 in
scholarships financed by concession stand profits.
It is a great opportunity for girls to make friends
with other girls who have an interest in STEM as
well as learn how to speak up, delegate, and lead
others in robot repairs. These experiences inspire
students to deepen their interest in STEM careers
and dream beyond traditional gender roles. Because of the single gender
tournaments, 2 of the attending teams implemented an All Girls Tournament in
their communities (Indiana and West Michigan).
Community In past years, we recorded many service hours fundraising and participating in
one-time events. In 2013, we changed the focus of our outreach efforts to provide
sustained opportunities to an underserved population at the Baldwin Center, a
local soup kitchen and community center. We
provide STEM activities in summer and fall programs
for 75+ at-risk students. Our plans for 2017 include
continuing these activities for the summer and fall
programs and starting FIRST teams at the center.
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OCCRA Each fall, we run a competitive STEM program to
emphasize FIRST values and provide teams with a pre-
season challenge. OCCRA is a partnership of local
educational agencies, high schools, and corporate
sponsors. Featuring FRC-size robots that can only be
fabricated with simple tools and limited mentor assistance,
we compete with and against 30 local high schools. Our
mentors run the events, impacting 10,000+ students in the
15 years of OCCRA.
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Contact Us
Website: www.killerbees33.com
Twitter: @FRC33
Facebook: https://www.facebook.com/killerbees33/
Email: [email protected]