UNH Combat Robot April 15-17, 2011 Drive System The robot maneuvers with two drive wheels and tank...
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UNH Combat Robot April 15-17, 2011 Drive System The robot maneuvers with two drive wheels and tank style steering. NPC- T74 DC motors provide the drive
UNH Combat Robot April 15-17, 2011 Drive System The robot
maneuvers with two drive wheels and tank style steering. NPC- T74
DC motors provide the drive power with 240 RPMs with 1480 ft-lb of
torque. The 24 Volt motors are geared down at a 20:1 ratio and have
a stall current 210 Amps. The speed is voltage regulated by Victor
885 electronic speed controllers. The speed controllers handle 120
A current continuously and surge currents of 200 A for 2 seconds
and 300 A for 1 second, suitable for robot combat. Victor 885 Speed
Controller NPC T-74 Drive Motor Dual Rank Synchronization 8 Bit
Counter 4 Bit Comparator Output Stage 5 Volt Battery Solenoid
AR6110 Receiver Pneumatic Weapon System Inlet Pressure Gauge (1000
psi) Outlet Pressure Gauge (200 psi) Buffer Tank 48 cubic inch 3000
psi HPA Tank With Pressure Gauge Pressure Control Down Stream
Bleed/Safety Control Circuit Solenoid Valve Pneumatic Cylinder High
Pressure Rubber Hose Rated for 300 psi The main weapon system
consists of a flipping arm controlled by a pneumatic piston. The
flipping arm includes a wedge shape that rests directly on the
ground in order to get underneath opponents and rotates about its
fulcrum to 50 to flip them. The pneumatic cylinder is powered by
HPA stored at 3000 psi and regulated down to 220 psi for
competition. The air flow is controlled by a solenoid valve which
fills and exhausts the cylinder. The cylinder generates over 1500
pounds of force, 1100 of which is vertical lift. Frame & Armor
The frame is made up of 1 square steel tubing with a 1/8 wall.
Steel was chosen because of its strength and durability and its
ability to be welded easily. The bottom plate of armor on the robot
is a 1/8 steel sheet, which was used as support and as a mounting
aid. The front plate of armor is also 1/8 steel because the front
is a high impact point. The rest of the robots armor is 1/8
aluminum. The aluminum was chosen in order to meet the weight
requirement of 220 pounds. The final weight of the robot was 208
pounds. Communication The communication system includes all control
elements between the transmitter and each operational part. A mated
pair Spektrum transmitter and receiver were used to transmit
signals. Two output signals corresponding to the joysticks were fed
directly into the speed controllers to drive the motors. A third
toggle output was used to control the solenoid, which controls the
pneumatic flipping weapon. This output is a PWM signal that toggles
between two duties. In order to interface to the solenoid, a
circuit was designed that determines which duty cycle is on the
output and uses a power transistor output stage to sink current
through the solenoid to fire the weapon. A separate 5 volt battery
was used to power the receiver and circuit to isolate noise from
other batteries and systems. Competition Robogames 2011 in San
Mateo, California Double elimination tournament with 3 minutes
matches Design Goals Robust, while meeting 220 lb limit Fast
movement and agility Effective weapon able to flip comparable
robots Team Members:Michael LitchfieldNicholas RiveraPatrick
KerriganJohn Cole Advisor : Frank Hludik