2019 FRC Robot
Robot Quick Facts
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Name: Chonky Kong
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Weight: 125lbs
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Size: 30" L x 30" W x 45" H
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Robot Capability:
1. 6 wheel west coast tank drive
2. 3 stages, cascade rigged, lead screw driven elevator
3. Separate end effector for cargo & hatch panel
4. Deployable lead screw climb
Click for Robot Reveal
Engineering Objective Quick Facts
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Gamepiece 1: Cargo | Scoring area: Rocket (Pick & Place)
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Gamepiece 2: Hatch Panel | Scoring area: Barge (Pick & Place)
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End Game Climb: Platform Climb
CAD Overview:
Module Breakdown:
Tank Drivebase
Drivebase allows robot to maneuver around the field quickly and precisely. Tank was chosen for its simplicity
West Coast Tank
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5:1 drive reduction with 2 5" white traction wheel & 4 omni wheels on the corner
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2 CIM motors for drive
Chassis
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30" by 30" frame
Electronics
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Battery offset to one side for balancing CG
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Breadboard mounted to the side of the robot vertically
Elevator
The Elevator controls the vertical movement of the cargo grabber. This allows for scoring at all levels of the Rocket.
Elevator
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2 775 pro motors drives 45:1 gearbox that drives the lead screws via HTD pulleys
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Igus linear rails and carriages
Electronics
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Two physical limit switches for elevator range of motion
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Motor encoder
Cargo Grabber
The cargo roller grabber has wheels for cargo intaking and outaking, combined a wrist joint, enables the acquisition, secure holding and scoring for cargo.
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2 sets of 3" flex wheels 1" tall for decent linear speed when intaking algae
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775 pro motor with a 3:1 reduction powers wheels via sprockets and chains
Climb
This lead screw climber shares the same power transmission as the elevator. To push the robot up the platform, pneumatics engages two rods that the carriages pushes against the ground. The front of the grabber also have powered wheels that pushes against the platform and rolls forward onto the platform once the robot clears the platform height, achieving climb.
Additonal structure
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2 Igus aluminum rods with ball end for free rolling
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Front of the grabber has 2 colson wheels powered at 9:1 reduction with a 775 pro motor to pull robot forward onto platform