Mini Bot Build

After a brief break from the hectic build season, the team is back in the build room once again.  This weekend we concentrated our efforts on the minibot design and fabrication.

The first bot is nearly complete. Testing in the deployment and climb phase has been successful, but more work continues as we finesse' its retraction and descent features. The FRC rules state teams can unbag and work on the master robots for a total of six hours before the first competition this weekend.  We have a tight timeline to accomplish much with these minibots. They are definitely a diamond in the rough, yet a masterpeice in the making!

R2 ROBONAUT NASA LAUNCH

This week marked the final NASA launch to the International Space Station with the space shuttle Discovery (OV-103).  Our team was invited to General Motors to see the R2 Robonaut in action just prior to launch training. The video of this historic launch and mission details are posted below. 

http://robonaut.jsc.nasa.gov/default.asp
  

R2 will remain aboard the ISS indefinitely and if all goes well, it will eventually be used to perform mundane maintenance and service tasks.  Upgraded versions of R2 could eventually perform space walks.

GM engineers are also studying how the technology embedded within R2 can be put to use within manufacturing facilities to help create a safer working environment. The dexterity and endurance of R2 can be used alongside people to help reduce repetitive stress injuries and the R2 sensing capabilities can be used in collision avoidance systems.

Before R2 begins regular duties alongside the astronauts, he will go through a period of testing and further development aboard the space station. The twin to the robot on the ISS remains at the Johnson Space Center in Houston, where engineers are refining its sensing and control systems - you can see him waving goodbye to the shuttle in the video above! This is the robot we viewed at General Motors. 

Based on the data measured on the orbiting station, the engineers on the ground will provide updated software and hardware. R2 is a great technology and we are proud to have witnessed it in person!

Bag-n-Tag Day

The build season is officially over!  We made our deadline to bag and tag both of our robots by midnight tonight and the bags were sealed with just 3 minutes to spare!

The bagging process was rather anticlimactic and the bags were non-descript, sealed with a zip tie and a witness tag!

The minibot deployment shroud was assembled and adorned with our famous martian stickers as well as the names of our generous sponsors. 

Tonight was such a rush that there were multiple jobs for anyone who wanted to help us out.

Parents helped out with sewing and stuffing mini-Martian plush toys to give out at the competitions and trade for unique t-shirts and sundries. Both single as well as double-head martian plushies are being made to represent each team ("Martians" team 494 and "More Martians" team 70). 

Lexan trim panels with the martian logos were drilled to size and fastened to the aluminum framing for both robots.

Final foam bumper pads were attached to both the robot chassis as well.

                                                                                                                                              

Students also had a chance to drive the robots to get practice time with their coordination and control skills.

Some of the team members were also busy with practice on a color guard routine to cheer on their robots during competition.

Others designed Martian award certificates to be given out to deserving 'rookie' teams with various accomplishments.

It has been a very successful build season and we are very excited about the competition season ahead.

GO MARTIANS!!!

Keyways and Cam Wars

It is 11:00 PM on a Sunday night with a snowstorm blowing outside and work continues on the robots.  Just like the U.S. mail, neither sleet, nor rain, nor ice, nor snow can keep the robots from progressing!  Although we do get a bit giddy with sleep deprivation...the Martian Robots continue to evolve!

During our test of robot #2, it began making odd noises and responding sluggishly.  The above video footage above, (however comical) was due to the loss of a tiny metal 'key' that fits into its slot in the robot drivetrain.  Per the instructions of our fearless Lead Mentor, we searched feverishly for that all too critical 'lost' part that supposedly came off during the test run - only to find it back in the build room on the workbench where it had been all along! :-)

Tonight we finished the deployment mechanism tweaks on for the minbot platform.  Looks like we'll need a couple of adjustments, but all is well thus far.

Wiring the new limit switch on the elevator was an important item in todays robot agenda.  Also, the fabrication of protective lexan panels for both protection of the robot components as well as safety in handling its components.

Even the tiniest of gearbox mechanisms can be utilized in the fabrication of our robots.

 Note: to view previous blog entries,click on "older posts" on the bottom right.

DRAWER SLIDES and MOTOR BURN

Today began the final weekend of the build season.  We worked all day and well into the night finishing the vertical struts for the support of the turret armature and lift mechanism on both robots.

The minibot deployment mechanism was fabricated and installed utilizing a pair of standard drawer slides, which are a marvelous use for this application.  Many areas of this structure were also fortified with bracing to support the lateral movement during deployment.

 

High Fives are ALWAYS a good sign!

Many tweaks to the software programming are still to be accomplished to ensure a smooth operation at every step during a match.

Also, many short tests of subroutines of the 'pot' (potentiometer) are also needed to ensure a seemless instruction set.

We also had a visit from one of our Middle School FIRST Lego League Team members today and explained the workings of our robot design and its complexities. 

We also had a chance to test the pick and place operation of the first robot this evening in both low and high peg placement.

At the conclusion of tonight’s build session (around midnight), we did a 2 minute run of the drivetrain to test its durability and troubleshoot any potential problems.  The robot performed well and had no issues during the two minute match test run.

Unfortunately during this test run, due to the lack of a limit switch, we may have accidentally burned out a Fisher motor which controls the elevation of the lift mechanism.  We do not have a spare motor of this type, so we are looking for alternatives before the first competition!

 We all agreed, that despite the motor issue, it was very fulfilling to see our hard work come to fruition in the form of a fully functional robot that can last through the 2 minute match and successfully compete on the field and meet the imperatives of the game!

FIRST TURRET and LIFT INSTALL

This week begins week six of the build season and then the final weekend, so the pressure is on to finish both robots by Feb 22nd - our "bag and tag" day for all teams in Michigan.

Finishing touches were added to the wiring and power distribution board.  The red lights signal all is well with each circuit.






Tonight we completed the first lift arm and turret assembly and installed it onto the chassis of robot #1.  As you can see from this video, the robot is finally taking shape.

 

We mounted cameras for the vision system and made a tryout on the carpet with a tape line.  The robot followed the line effectively, so we were pleased.

The highlight of the weekend was the successful tryout of the first pick and place function of the turret, lift arm and end effector assembly.

SuperBUILD Sunday

Today we tested the Drivetrain on Robot #1 for friction, torque and speed. As the video shows below, human assistants played a key role. Even a football game did not deter the team from working on the robots!

Many tweaks are made along the way, as we seek to optimize the design for peak performance before competition. A strange noise was detected emanating from the drive system and rectified in this early tryout.

Motor shafts for robot #2 were again, cut to length to fit into the 'tri-power' assembly.  The Lift Mechanism assemblies were also completed.

The bumpers from last year's robots were disassembled as well as the staples removed from the covers.

Work also continues on the programming and game strategy as we get our first glimpse of how the robot can maneuver. 

AZIMUTH CONTROL AND WIRING

Tonight completes our fourth week of the build season.  We've accomplished much in a very short time.  Despite two snow days off school due to a blizzard, Robotics team members continued to meet in the build room to work on the robot construction and programming.

Fabrication of the lift mechanism assembly has begun and will be mounted to a turret, which allows pivoting (azimuth control) and elevation for retrieval and placement of the game peices.

Wiring is now complete and installed into the finished chassis and drivetrain of Robot #1. 

Leonardo da Vinci would have been proud of this artful masterpiece!!

A separate team of students turned several key components on the metal lathe tonight. 

 

The material is a DELRIN plastic and the parts were made for end caps on the roller drums of the end effector.

Another team of students prepared spacers for installation in the Mini-bot.

Of course this involves more drilling and tapping of holes!

                                          

What would a build room be without dust bunnies everywhere?  It's an occupational hazzard!  ;-)