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R 01: Individual BrainstormingFreuler, 8:00 AM2/2/2016Paul HarshbargerCourse Layout StrategiesThree potential strategies for traversing the course layout were developed during brainstorming. The first strategy has the robot turning roughly 45 degrees left and traveling forward to the middle toggle switch. After flipping the switch, the robot will back up and turn toward the left switch and flipping it. Then, the robot reverses again, and travels to toggle the right switch. The robot will back away from the switch and then make a 90 turn to the right and travel forward until its facing is perpendicular with the dumbbell of supplies. It will take another 90 turn right and travel toward the dumbbell until coming into contact with it. Afterwards, it will pick up the dumbbell and begin travelling in reverse. The robot will travel up the main construction ramp to the fuel switches. After pressing one of the fuel switches, the robot will reverse and begin to travel along the yellow line. After arriving at the cargo drop off, the robot will deposit the cargo in the correct area. The robot will then reverse and follow the yellow line up until it is facing the temporary access ramp. At this point, the robot will travel forward a distance and then turn 90 degrees right. The robot will then travel down the main ramp. After entering the lower area, the robot will turn 45 degrees right and travel forward until it presses the final button. At this point, the robot’s run has completed.The second route is identical to the first up until the time when it must travel to the upper area. At this point, the robot will take the temporary access ramp instead of the main ramp. To do this, the robot will travel roughly two thirds of the distance between the main ramp and the cargo pick up area. At this point, the robot will turn 90 degrees right and travel forward until coming into contact with the line painted onto the ramp. The robot will then follow the line up the ramp. After leaving the ramp, the robot will turn 90 degrees to the right to the fuel pump. After pressing one of the buttons, the robot will reverse and follow the line to the cargo drop off. After arriving at the drop off, the robot will deposit the supplies and travel along the line up until it is facing the temporary access ramp. At this point, the robot will travel forward to the ramp and travel down it. After arriving in the lower area, the robot will then travel forward a distance until turning 45 degrees to the left. The robot will then travel forward until it presses the final button. At this point, the robot’s run will have been completed.The third route, instead of travelling toward the switches first, will instead pick up the cargo first thing. To do this, the robot will start by rotating 45 degrees right from the starting position, and begin to travel forward. After arriving at the cargo, it will turn 90 right and pick up the dumbbell. The robot will then travel in reverse up the main ramp until arriving at the fuel pumps. After pressing the correct button, it will then travel in reverse along the line to the cargo drop off. After dropping off the cargo in the designated area, the robot will traverse itself to face the red switch. After flipping the switch, it will then reverse and traverse itself to flip the white switch. The robot then follows this same routine for the blue switch. After flipping the blue switch, the robot will turn 90 degrees left toward the main ramp. The robot will turn 90 degrees right and travel down the ramp. After arriving in the lower area, the robot will then turn 45 degrees right and travel to the starting position to press the final button. After this task is completed, the robot’s run will have concluded.A diagram of each of these runs has been appended to the end of this document.Chassis and DrivetrainsThe first of three idea for the chassis is a four wheeled robot with a rectangular base with two motors. The motors would sit on the underside of the chassis, helping to keep the robot from being top heavy and leaving space on top for other aspects. The motors would indirectly drive the rear wheels, with the smaller gear on the motor. This would hopefully provide more power for the robot to travel up steep slopes. With this design, the robot would not be able to execute point turns, but would instead have to traverse on one or both of its wheels.The second design is a two wheeled robot on a rectangular chassis, with two directly driven rear wheels and a wide skid in the front. The motors will be on the underside of the chassis, keeping the robot from being top heavy. This design would reduce the friction of the robot’s turns. With two wheels, the robot will also be able to rotate on a point about its rear if the wheels turn in opposite directions.The third idea is for a robot with a rectangular chassis, with a set of treads on either side of the robot. Each tread will have three wheels, with the middle wheel being directly driven by a motor. The middle wheel and its motor will sit on top of the chassis to keep the tread taught, and provide the tension needed to move the tread. Triangular struts will be used to hold the middle wheel and motor in place. The two outer wheels will sit below the chassis. With this configuration, the robot will be able to perform point turns about its center by driving the treads in opposite directions. Being high friction, this will reduce the amount of slipping during travelling. A sketch of this chassis has been appended to the end of this document.Toggle Switch MechanismsThree methods of pushing and pulling the toggle switches were brainstormed. All three are based off of a fixed, stationary arm, requiring nothing to power it. The first of these arms is shaped like an angular shepherd’s staff. With the flat of the front of the hook, the robot will be able to push a toggle switch forward. With some maneuvering, the robot will also be able to pull the toggle switch by hooking it around the inside of the “staff”.The second method is to use a t-shaped rod to be able to ambidextrously push and pull the switches. With the broad front the robot will be able to easily push the switches in, while the robot will able to pull the switches using either side of the rod. A sketch of this concept has been appended to the end of this document.The third method is to have the rod’s head shaped into a half circle, similar to a wrench in appearance. Using this, the robot could push any of the three switches. However, it will not be able to pull switches toward it.Fuel Delivery SwitchThe first method for activating one of the two fuel switches will be to use a see-sawing lever, rotating about its center. With this method, once the robot arrives and reads which switch to press, the rod will pivot about its center via some external influence, with either the top or bottom of the lever jutting out to press the appropriate button. A sketch of the lever has been appended to the end of this document.The second method of activating the switches is to use two extending rods placed level with the two buttons. After reading which button to press, the appropriate rod will extend out to press the button. After pressing the button for the appropriate amount of time, the rod will then retract into its compartment.The third method of activating the fuel delivery switches would be to use to fixed rods on the front and back of the robot, each at a height of the two switches. After arriving at the fuel pump and reading which switch to press, the robot will turn itself around so that the appropriate rod is facing the switch. It will then drive forward to activate the switch for the appropriate amount of time. Afterwards, it will then rotate itself around to its default position.Final Button Press MethodsThree methods were devised for pressing the final button, all of which utilize a stationary object on the robot. The first method is to use a simple sheer face on the robot. This methods wide surface area will help ensure that the button is actually pressed. The second method is to use a fixed rod, similar to those used to press the fuel switches. This method requires less space, but potentially requires more care in robot positioning. The third method is to use a form of bumper on the front of the robot. This method is similar to the wall method, except that the bumper will take less space, as it placed lower on the robot, directly onto the edge of the chassis. A sketch of this last method is appended to the end of this document.Dumbbell of SuppliesThe first method of retrieving and delivering the dumbbell of supplies is to use a three-armed scoop, two on bottom, and one on top, all actuated by one motor. The two bottom arms will maneuver underneath the dumbbell and lift it up. The third top arm is used to keep the dumbbell steady and prevent it from falling from the robot. When at the drop zone, the arms will lower the supplies into the designated area. The second method is to use a mechanism similar to that found in the game Hungry-Hungry Hippos. The overreaching arm will scoop the dumbbell into a holding bay that will transport the supplies. When it reaches the designated area, the floor of the bay will rise up to let the supplies roll into the drop zone. The third method is to use a pair of tongs to grip the supplies and carry them to the drop off. One arm will be fixed in place, while another will be motorized to clamp onto the supplies. A second motor will raise the tongs so as to be able to drop the supplies into the designated area. A sketch of this method has been appended to the end of this document.Attachment: Course Routes, 3Attachment: Part Sketches, 5 ................
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