ROBOT DESIGN
Thursday the Robot
DRIVETRAIN
We use a 2 wheel drive system. The front wheels are omni-wheels so the robot can turn without adjusting the angle of the front wheels. The back wheels are disk wheels which gives the robot traction on smooth surfaces.
MAIN ARM
We use a double axis arm, with a claw mechanism at the end for picking up freight. The first part of the arm is moved by a DC motor connected to a set of gears to trade off speed for power. The second part of the arm is moved by a servo motor. We use this second section for adjustments to the angle of the claw. This is useful for capping our team shipping element.
CLAW/GRABBER
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This is moved by a servo motor connected to a pair of gears that spin opposite to each other. This allows us to open and close the claw using a single motor. We have 4 poles with rubber bands stretched across them to increase the reliability of picking up freight.
CAROUSEL WHEEL
This is a wheel spun by a DC motor attached to a gear box to trade off speed. This is done because if the wheel spins too fast, the duck will fly off the carousel. It can spin in either direction so it will work for both the Blue and Red Side carousel.
