Treeboard MutineersVEX Robotics Competition

Austin Crawford

Nicole Grieble

Ericson Magsombol

Overview

VEX Clean Sweep Rules Robot Tasks 12 Step Design Process Competition Outcome Conclusions

Table of Contents

Title Slide Number

Problem Statement

Background-Robot

Background-Competition

Deliverables

Scope

Timeline

Criteria and Constraints

Brainstorming

Research and Generate Ideas

Explore Possibilities

Select An Approach

Test Plan

Work Process

Bill of Materials

CAD Drawings

Prototype

Testing & Monitoring

Refining

Competition

Changes to Make

Summary

Lessons Learned

Problem Statement

The goal is to construct a robot within the VEX Clean Sweep competition’s given

guidelines using VEX products and ultimately go to a competition and score

the most points.

Background - Robot

First Robot (1938) By Willard Pollard and Harold Roselund Sprayed Paint

Manufacturing Demonstration MIT Servomechanisms Lab (1959)

Regularly Seen 1980’s

Background- VEX Competition

Deliverables

Robot VEX Competition

Engineering Notebook Mrs. Brandner

Powerpoint & Final Report Mr. Pritchard

Scope

Parts Device to move the robot Device to lift balls Device to hold balls

Materials VEX Protobot Kit VEX Booster Kit VEX Power Pack

Resources CAD- Mr. Cotie Technical- Mr. Pritchard Calculations- Mrs. Brandner

TimelinePlan Date Act. Date Who Task

Start Comp Start Comp

11/17/09 11/18/09 11/17/09 11/18/09 Nicole Problem Statement

11/18/09 11/20/09 11/18/09 11/20/09 Ericson Background

11/19/09 11/20/09 11/19/09 11/20/09 Nicole Deliverables

11/20/09 12/01/09 11/20/09 12/01/09 Austin Scope Statement

11/30/09 12/01/09 11/30/09 12/01/09 Nicole/ Ericson Timeline

12/01/09 12/04/09 12/01/09 12/04/09 Crew Identify Criteria and Constraints-Select main 2-4 customer

requirements.

12/04/09 12/06/09 12/07/09 12/07/09 Crew Brainstorming-Create a large, generic list of areas that

need more research.

12/06/09 12/08/09 12/07/09 12/08/09 Crew Brainstorming-Get more details in select areas

that are more important.

12/08/09 12/14/09 12/09/09 12/15/09 Crew Research and Generate Ideas-Research the selected areas.

12/14/09 12/18/09 12/09/09 12/17/09 Crew Research and Generate Ideas-Based off research, create

preconceptions that may help the project.

1/04/10 1/15/10 2/10/10 2/16/10 Austin/Ericson Explore Possibilities (requires hands on time)-

· Experiment new ideas with VEX parts.

· Create sketches. · Develop strategies.

1/18/10 1/20/10 2/17/10 2/17/10 Nicole Select an Approach-

Using criteria screens, pros cons, etc...

1/21/10 1/22/10 1/26/10 1/27/10 Nicole Design Proposal- Test Plan-Based off criteria and constraints, develop test criteria the robot must

succeed in accomplishing.

1/25/10 2/12/10 Austin Design Proposal- Work Process-Based off the test plan, generated ideas, and explored possibilities,

develop a robot that meets all these needs and expectations.

2/12/10 2/19/10 2/02/10 2/03/10 Nicole Design Proposal- Bill of Material-Basically list cost of all materials

used.

2/12/10 2/19/10 Ericson Design Proposal- Detailed CAD Drawings-

Create detailed 2-D and 3-D drawings.

1/15/10 3/01/10 2/01/10 3/26/10 Crew Prototype-Finish designing and building the

prototype.

3/01/10 3/15/10 3/26/10 3/26/10 Crew Testing and Monitoring-Complete the test plan to be sure

all criteria are met.

3/01/10 3/19/10 3/26/10 3/26/10 Crew Refining-Based off results of the testing, refine the design to meet criteria easier, faster, more accurately,

etc…

3/19/10 3/19/10 3/19/10 3/19/10 Crew + Mr. P. Packing EVERYTHING

3/12/10 3/19/10 3/26/10 3/26/10 Crew + Mr. P. Notebook Finalize

3/27/10 3/27/10 3/27/10 3/27/10 Crew + Mr. P. Competition At Batavia

3/29/10 4/23/10 3/30/10 Crew Final Report and PowerPoint Finalized

4/30/10 4/30/10 Crew Final Report and PowerPoint Due

5/03/10 5/06/10 Crew Presentations

Criteria and Constraints

VEX Rules and regulations1. Only one robot2. Must pass full inspection3. Cannot damage other robots4. Must be within 18” x 18” x 18”5. Only made from official VEX parts6. Up to 10 motors/servos7. Can only use one battery8. On/off switch accessible without moving robot9. Up to two controllers

Brainstorming

Things to research Competition Existing Robots VEX Parts

Design Ideas Vacuum Sweeper Lobster Claw

Research

Robot Motors

High Torque Gear Ratios

Wheels High Traction

Structural Framing Solid Aluminum

Generate Ideas

Existing Designs Scoopers

Slide under balls rather than grabbing Highly Effective “Garbage Truck” Design

Containers “Pick-up Truck” and an Incline “Garbage Truck” dumped over the wall

Pushers Difficult to manage balls Gets wedged under robot

Explore Possibilities

Austin’s SolutionPro Con

Fits dimensional constraints

Large gaps in claw for balls to fall through

Bucket placed strategically to dump balls easier

Possible problems in moving balls from claw to bucket

Simple in design and has good structure

Claw is too long

Eric’s SolutionPro Con

Fits dimensional constraints

Lots of motors needed

Strong frame and stable connections

Wide Steering Radius

Bucket doesn’t need a motor

Small claw, not able to hold many balls at once

Nicole’s SolutionPro Con

Uses a small amount of VEX parts

Can only pick up one ball at a time

Efficient for dropping balls over middle wall

No storage space for balls

Can knock standing balls off of middle wall

Not very strong

Select An Approach

Eric’s Design was chosen Some changes were made

Most efficient out of the three Very stable Fits within dimensions

Test PlanTest Criteria How Tested Expected results Actual Results

One Robot Make sure all parts are connected to one unit

We will only have one robot

Must be 18”x18”x18” Measure the robot The robot fits the requirements

Only VEX Parts Inventory every piece used and make sure it corresponds with VEX parts

Our robot will only contain VEX parts

Only one Microcontroller

Count how many microcontrollers we are using

We will only have one microcontroller

Ten or less motors or servos

Count the servos and motors

We will have under ten motors and servos

One 7.2V Robot Battery Pack or the VEX Power Expander, and a 9V backup battery

Count the batteries that are being used and make sure they fit the requirements

We will either have one 7.2V Robot Battery Pack or the VEX Power Expander, and a 9V backup battery

Up to two handheld controllers

Count how many controllers are being used

We will have only one handheld controller

Access to on/off switch without moving robot

Turn the robot on and off without moving the robot at all

We will be able to turn the robot on/off without moving the actual robot

Move balls over to the competitors side

Replicate the wall that will be used in the competition and then use the robot to move balls from one side to another

Will be able to move balls

Make sure all parts are secure

Shake Robot and make sure nothing comes off

Nothing comes off

Obtain a high score Practice using a practice field

50+ points

Work Process

Movement Frame1. Left Side

1. C-Channel Assembly

2. Left Wheel Assembly

2. Right Side1. C-Channel Assembly

2. Right Wheel Assembly

3. Crossbars

Work Process

Bin1. Column

2. Holder1. Back Assembly

Claw1. Frame

2. Claw

Bill of Materials

Part Quantity Unit Cost Total Cost

Registration 1 $200.00 $200.00

Protobot Robot Kit 1 $299.99 $299.99

Booster Kit 1 Donated Donated

Power Pack 1 $49.99 $49.99

TOTAL: $548.98

CAD Drawings

Prototype

Testing & Monitoring

Test Criteria One robot used Must be 18”x18”x18” One microcontroller used Access to ON/OFF switch without

touching robot Moves balls to competitor’s side Make sure all parts are secure

Refining

Built our first design Made changes and tested

Competition

Overall Not entirely successful

Our Goals Able to get balls over the wall Successful in this aspect

Observations Beastly Robots Use of programming (autonomous feature) Omni-wheels

Changes to Make

Add autonomous feature Starts off competition good

Add Omni-wheels Enhanced control

Increase walls of bucket area Contains balls better

Summary

Successful prototype and documentation

Good team dynamics

Learned real life competition and business deadline skills

Lesson Learned

Testing repeatedly and refining gives the best product

Can always make improvements to design

The key to success is looking forward