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  • RBE1001 B16: TEAM 8 The Great EGGscape Final Project Report

    Worcester Polytechnic Institute

    15 December 2016

    Team Member Signature Contribution %

    Mingquan Liu

    ________________________ 33

    Skyler Kim

    ________________________ 33

    Sam White

    ________________________ 33

    Grading: Presentation _____/20

    Design Analysis _____/30

    Programming _____/30

    Accomplishment _____/20

    Total _____/100

  • i

    Table of Contents

    Table of Contents ----------------------------------------------------------------------------------------------- i

    List of Figures ------------------------------------------------------------------------------------------------- ii

    Introduction ---------------------------------------------------------------------------------------------------- 1

    Preliminary Discussion --------------------------------------------------------------------------------------- 2

    Problem Statement -------------------------------------------------------------------------------------------- 4

    Design Specifications -------------------------------------------------------------------------------------- 4

    Preliminary Designs------------------------------------------------------------------------------------------- 6

    Drivetrain ---------------------------------------------------------------------------------------------------- 6

    Potential Lift Mechanisms -------------------------------------------------------------------------------- 9

    Potential Game Piece Manipulators -------------------------------------------------------------------- 13

    Sensor Usage ----------------------------------------------------------------------------------------------- 16

    Selection of Final Design ----------------------------------------------------------------------------------- 18

    Final Design Analysis --------------------------------------------------------------------------------------- 20

    Driveline ---------------------------------------------------------------------------------------------------- 20

    Chassis ------------------------------------------------------------------------------------------------------ 25

    Intake -------------------------------------------------------------------------------------------------------- 27

    Lift ----------------------------------------------------------------------------------------------------------- 28

    Programming ----------------------------------------------------------------------------------------------- 30

    Summary/Evaluation ----------------------------------------------------------------------------------------- 31

    Overview of Final Design State ------------------------------------------------------------------------- 31

    Critical Design Review (CDR) -------------------------------------------------------------------------- 33

    Optional Extended Demonstration (OED) ------------------------------------------------------------- 34

    Appendix ------------------------------------------------------------------------------------------------------ 35

    Pictures of Robots Final Design State ----------------------------------------------------------------- 35

    Robot Code ------------------------------------------------------------------------------------------------- 42

  • ii

    List of Figures

    Figure I: The Great EGGscape Game Field with lables ------------------------------------------------- 1

    Figure II: First driveline design configuration ------------------------------------------------------------ 6

    Figure III: Second driveline design configuration -------------------------------------------------------- 7

    Figure IV: Third driveline design configuration ---------------------------------------------------------- 8

    Figure V: 4-Bar lift diagram --------------------------------------------------------------------------------- 9

    Figure VI: 6-Bar lift diagram ------------------------------------------------------------------------------- 11

    Figure VII: Roller intake/outtake diagram ---------------------------------------------------------------- 14

    Figure VIII: CG & VTC considerations, side view of robot ------------------------------------------- 22

    Figure IX: CG & VTC considerations, top view of robot ---------------------------------------------- 22

    Figure X: CG & VTC considerations, front view of robot --------------------------------------------- 22

    Figure XI: CG when arm is at maximum horizontal distance ----------------------------------------- 25

    Figure XII: Right side view of robot with 6-Bar lifted ------------------------------------------------- 35

    Figure XIII: Left side view of robot with 6-Bar lifted -------------------------------------------------- 35

    Figure XIV: Front view of robot with 6-Bar lifted ------------------------------------------------------ 36

    Figure XV: Right side of two-stage lift gearing, e=1/15 ----------------------------------------------- 37

    Figure XVI: Left side of two-stage lift gearing, e=1/15 ------------------------------------------------ 37

    Figure XVII: Perspective view of robot with 6-Bar lift down ----------------------------------------- 38

    Figure XVIII: Right side view of robot with 6-Bar lift down ------------------------------------------ 38

    Figure XIX: Front view of robot with 6-Bar lift down ------------------------------------------------- 39

    Figure XX: Right side driveline encoder gearing, e=5 ------------------------------------------------- 39

    Figure XXI: Left side driveline encoder gearing, e=5 -------------------------------------------------- 40

    Figure XXII: Drivetrain geometry and motor placement ----------------------------------------------- 40

    Figure XXIII: Wooden, broken cranks for 6-Bar -------------------------------------------------------- 41

  • 1


    The Great EGGscape is a challenge centered around manipulating wooden EGGs. The

    EGGs can be scored in the NEST, a platform elevated 16 above the ground in a 32 tall BARN,

    the PEN, a movable, elevated platform, and the COOP, a bounded floor area. The NEST is the

    high tier scoring area, the PEN is a middle tier scoring area, and the COOP is the low tier scoring

    area. The other major aspect of this challenge is a 30 long ramp that leads to a 32 high PERCH

    that is used to suspend robots off of the field. Matches consist of a 20 second autonomous period,

    followed by a 120 teleop period. There are various point values for each activity, including

    specific point values for objectives completed during autonomous and specific point values for

    objectives completed in the last 30 seconds of the match.

    Figure I: The Great EGGscape Game Field with lables

  • 2

    Preliminary Discussion

    Our team began this project by first studying the game rules and the field design, since a

    solid understanding of the challenge is critical to success. We began our brainstorming by

    considering every possibility of gaining points in different sections of the game. We divided the

    game into three section autonomous, teleop, and endgame to organize strategies for each


    For autonomous section, we decided that the highest priority for this section is to score as

    many EGGS into the nest as possible, since the EGGS we put in will be double counted in both

    autonomous section and teleop section. In this game, each alliance can have two preloaded

    EGGS and there are five EGGS under each PEN for a total of seven easily accessible EGGS.

    Keeping this in mind, our highest priority goal for our robot was to push the PEN out of the way,

    pick up the eggs under the PEN of our starting position(See figure 1.1), and score them into the

    NEST by the end of autonomous section. Other strategies we considered include collecting the

    36 EGGS poured from the RAD at the end of autonomous either by our robots intake or by

    positioning our PEN. Because we can use encoders and bump switches to accurately positon the

    robot, our team decided that with any remaining time in autonomous, we would attempt to either

    push the PEN under the RAD (in front of NEST) or setting our box under the RAD.

  • 3

    ,Our strategy for teleop is relatively simple but straightforward. The only things we

    wanted our robot to do was collect eggs with our intake consistently and pour them into the

    NEST without spilling. Since each alliances nest field is on the other alliances side of the field

    (See figure 1.1), we wanted our robot to be able to score from our side of the field, which meant

    the lift needed to be able to reach from one side of the BARN to the NEST on the other side.

    This ability of scoring will allow us to save time that would otherwise be spent driving. As an

    added bonus, a longer intake allows us to score from a father distance away when we are in front

    of our own NEST.

    At the endgame section, the only task for our robot is climbing the ramp and hang

    on the PERCH. This is a reliable and fast way to score a large amount of points. We estimated

    that this will take about 10 to 15 seconds.

  • 4

    Problem Statement

    Design a robot to pick up and transport EGGs from different position of the game field,

    settle them into the NEST and lift itself on the PERCH.

    Design Specifications

    High priority The designs aspec

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