Due to the effects of the covid 19 pandemic, competitions were delayed which gave us a lot of extra time to focus on our Ultimate Goal robot cad and prototypes in the beginning of the season. We prototyped many aspects of our robot such as the shooter to find the ideal amount of compression, velocity, and angle needed to launch rings into the high goal. We also prototyped the intake to find the ideal amount of compression to intake the rings quickly, however we later changed this to a dropdown intake controlled by a servo so we could control the amount of compression we put on the rings. We then spent the first 3 months of our season cadding the robot in Fusion 360. We ultimately decided to go with a turret design as we would theoretically be able to shoot from any location on the field! We went through many iterations for each subsystem of the robot such as the following:
Intake:
- our original design was a intake composed of 9 wheels fixed onto the drivetrain
- switched to 2 sets of intake rollers to allow for more contact on the rings and would allow the rings to get quickly launched
- switched to a dropdown intake with one set of rollers over a intake fixed onto the drivetrain
Intake:
- our original design was a intake composed of 9 wheels fixed onto the drivetrain
- switched to 2 sets of intake rollers to allow for more contact on the rings and would allow the rings to get quickly launched
- switched to a dropdown intake with one set of rollers over a intake fixed onto the drivetrain
Conveyor:
- our original design a ramp at a 30 degree angle long enough to bring rings into the center of the robot
- switched it to a conveyor type design at a 45 degree angle with a bottom roller using HTD belts with funnels to center rings
- switched the belts to 7" rubber bands using crowned pulleys which have more grip on the rings
- our original design a ramp at a 30 degree angle long enough to bring rings into the center of the robot
- switched it to a conveyor type design at a 45 degree angle with a bottom roller using HTD belts with funnels to center rings
- switched the belts to 7" rubber bands using crowned pulleys which have more grip on the rings
Magazine:
- our original design was a platform mounted on gorails using gorail sliders controlled by one servo using a linkage
- we increased the height of the gorails and platforms so the mag would be able to reach higher
- we switched it from being controlled by 1 servo to 2 servos so the mag wouldn't get tilted on the way up
- we created funnels to help center the rings into the mag
- our original design was a platform mounted on gorails using gorail sliders controlled by one servo using a linkage
- we increased the height of the gorails and platforms so the mag would be able to reach higher
- we switched it from being controlled by 1 servo to 2 servos so the mag wouldn't get tilted on the way up
- we created funnels to help center the rings into the mag
Turret:
- our original design was 2 circle shaped aluminum plates which would enclose the turntable and house the servos for the turret
- we changed the shape of the plates to allow more room for the servos
- we extended the shape even more and created a full gearbox to increase the speed of the turret
- our original design was 2 circle shaped aluminum plates which would enclose the turntable and house the servos for the turret
- we changed the shape of the plates to allow more room for the servos
- we extended the shape even more and created a full gearbox to increase the speed of the turret
Shooter:
- our original design was a 1 motor flat shooter using 1 powered wheel and one free spinning wheel with wheels to index rings
- we switched the design to a 2 motor shooter geared 1.5:1 and re-designed the indexing method
- we then changed the indexing method to a simple trigger arm powered by one servo
- switched the design to a simple gearbox with bevel gears to allow the shooter to be thinner and well packaged
- re-designed the ring angling method from a passive bar to a servo controlled arm
- our original design was a 1 motor flat shooter using 1 powered wheel and one free spinning wheel with wheels to index rings
- we switched the design to a 2 motor shooter geared 1.5:1 and re-designed the indexing method
- we then changed the indexing method to a simple trigger arm powered by one servo
- switched the design to a simple gearbox with bevel gears to allow the shooter to be thinner and well packaged
- re-designed the ring angling method from a passive bar to a servo controlled arm
Wobble Arm:
- our original design was a V4B type design where the arm would be parallel to the ground at all times
- switched to a dropdown style arm in the back of the robot so we would be able to preload the wobble goal in auto
- our original design was a V4B type design where the arm would be parallel to the ground at all times
- switched to a dropdown style arm in the back of the robot so we would be able to preload the wobble goal in auto
And with that team 16439 would like to present our first robot for the Ultimate Goal 2020-21 season:
Check out more pictures and videos of our Ultimate Goal Robot: https://photos.app.goo.gl/DWenFoWBTuvT8SqR8
With our robot we were able to achieve an all time remote high score in FIRST Chesapeake of 360 points! At the end we came out #1 in the Chesapeake region on ftcstats.org!
In the UltimateGoal 2020-21 season, we won a total of 6 awards! In the states competition, we won the Think Award and were able to advance to the worlds championship in Detroit, however the worlds competitions were later canceled due to covid 19.