2020 FRC Robot
Robot Quick Facts
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Name: Sniper from TF2
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Weight: 125lbs
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Size: 30" L x 30" W x 40" H
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Robot Capability:
1. 6 wheel customized tank drive
2. Deployable power cell ground intake
3. Power cell funneling hopper & indexer
4. Cargo shooter with 270 deg turret that shoots power cells
5. Extendable winch climber
Click for Robot Reveal
Engineering Objective Quick Facts
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Gamepiece 1: Power cell | Scoring area: Power Port (Shooting)
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End Game Climb: Hang Climb w Balance
CAD Overview:
Double Jointed
Winch
Climb
Chassis
Shooter
with
Turret
Hopper
&
Indexer
Power
Cell
Ground
Intake
Module Breakdown:
Tank Drivebase
Drivebase allows robot to maneuver around the field quickly and precisely. Tank was chosen for its simple design with sufficient torque and traction.
West Coast Drive Tank Gearbox
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high drive reduction (9 : 1) [16ft/s] with 5" black nitrile treaded billet wheels and 5" omni wheels on 4 corners
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6 NEO motor for propulsion
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All power transmission housed in between a 2 by 1 rectangular bar and a 2 by 1 C-Channel
Chassis
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30" by 30" frame
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1/8" bellypan agressively pocketed
Electronics
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Battery offset to one side for balancing CG
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RoboRio & Sparkmax controllers on bellypan
Shooter
The Shooter launches the power cell from any angle and any range within the field limits. This allows for swift scoring into the power port.
Flywheel
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2 775 pro motors drives 1:1.5 gearbox via HTD pulleys
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4" OD 45A Neoprene Fairlane Flywheel
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Flywheel driven at up to 8000 RPM
Turret
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Moves 270 deg range of motion within 2 seconds
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Shooter sits on a 13" OD bearing with a 20DP gear ring
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Turret driven by a pinion gear with a 45:1 gear reduction
Hood
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Rack & pinion design using belt as rack and pulley as pinion
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Driven by a servo motor
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Actuated deadplate
Intake
The power cell ground intake, rotationally deployed by piston, features 2 sets of rollers that intakes power cells from the ground.
Intake Rollers
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Neo 550 motor drives the 2 sets of rollers with a 5:1 reduction with HTD pulleys
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2" OD wheels place on the shafts for greater linear speed
Intake Deployment
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Clevis pin-bushing pin joints for free rotation
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Rotation motion powered and limited by 2 pistons
Hopper & Indexer
The hopper and indexer assembly provides a straight tunnel connection that connects the wide output of the intake into the singular input of the shooter. It funnels and transfers the power cells within the robot perimeter so that both the intake and shooter can function effectively.
Hopper
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Powered roller funnel with 3 sets of 3" flex wheels on the sides to assist with funneling
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Powered roller floor with HTD belt providing uni-directional force for funneling
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Rollers are powered by 2 neo 550 motors on a 5:1 gearbox reductions connected via HTD pulleys
Indexer
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Transfer cargo thru an arc path up and feeds it into the shooter
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Powered by a neo 550 motor and connected via toothless spools and polycord
Climb
This Double jointed winch climb has a rotary joint and a linear stage. When the winch releases, the joint rotate up and linear stage extends to deploy climb. When the winch retracts, the linear stage retracts and rotary joint rotates down, pulling the robot up the bar and achieving climb.
Structure
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The rotary joint is attached firmly to the robot truss, the motion is limited with hard stops
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Linear stage is housed in a 1" square aluminum tube with an inner stage that has a hook at the top
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Constant force spring pulls the linear stage up when winch is released
Gearbox
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2 neo 550 motors direct drives the winch with a 81:1 reduction with a pneumatic friction brake to prevent backdrive