This week our group managed to finish attaching all the motors, thus finishing the overall base of our robot. We all decided to ditch the 7:6 gear ratio in favor of two extra motors for both more torque and speed in the field, as well as extra space on the sides of our base in case our end-effectors require it later. After securely fastening all the wheels and motors to our base, we split off into two groups. One group collected the micro-controller and battery, as well as all the required cables, and began attaching them to the base. The other group opened up ROBOTC on a computer and began programming for our basic skid steer drivetrain. There are a couple loose ends to tie up with our current prototype, an example being our current cable management, and potentially even the position of our microcontroller and battery, but by next time we should be able to begin putting together our end-effectors, and maybe even test them out.
0 Comments
After tightening the loose screws and shafts of the wheels, our group decided to add the motors to the base. We all agreed to use a gear ratio of 7:6, using the 84 tooth gear and the 60 tooth gear. To make sure that all the motors were working, we had to test each one separately using a basic forward drive code. The hard part about this was finding good shaft collars that had screws inside in a decent state. The majority of the collars had messed up screws, making it almost impossible to use. To fix this problem, members of our group separated the working shaft collars and the ones that didn’t work. For next time, we have to finish attaching all the motors securely and also attach c channels to the outside of the base to stabilize the wheels and the gears that will connect the two motors we use to the driven gears.
Today we created the system for the wheels. The challenging part for today was finding the correct hole to stick the wheel shaft in. In order to go up the platform in the middle of the stadium, we needed to choose the hole on the metal that is closer to the ground so that we have more clearance under the base. We also needed to make the wheels extrude out of the base so that the wheels are able to have grip and push itself up on the high platform. Another challenge for us today was to find the functioning shaft collars. Many of the collars were malfunctioning, delaying our process of building.
|
AuthorWrite something about yourself. No need to be fancy, just an overview. Archives
November 2018
Categories |