2022_intake
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| 2022_intake [2022/08/14 22:33] – rfhuang | 2022_intake [2022/08/14 22:58] (current) – [Over-the-Bumper Intake Prototype] rfhuang | ||
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| ==== Over-the-Bumper Intake Prototype==== | ==== Over-the-Bumper Intake Prototype==== | ||
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| The first roller included compliant wheels, and the second roller featured 2 inch mecanum wheels that vectored the ball towards the center. Chain and sprockets were used as power transmission from the first to second roller. To replicate accurate intaking conditions, we mounted the prototype onto a drivebase with bumpers. While testing, a few conclusions were made: | The first roller included compliant wheels, and the second roller featured 2 inch mecanum wheels that vectored the ball towards the center. Chain and sprockets were used as power transmission from the first to second roller. To replicate accurate intaking conditions, we mounted the prototype onto a drivebase with bumpers. While testing, a few conclusions were made: | ||
| - Cargo sometimes spun or slipped against the bumpers | - Cargo sometimes spun or slipped against the bumpers | ||
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| Our initial cutout intake prototype featured a bumper cutout, two arms made from aluminum tubing, and only one roller with mecanum wheels. We were not satisfied with the gripping ability, speed, or consistency of the intake, so we added another roller at the same height but with compliant wheels. | Our initial cutout intake prototype featured a bumper cutout, two arms made from aluminum tubing, and only one roller with mecanum wheels. We were not satisfied with the gripping ability, speed, or consistency of the intake, so we added another roller at the same height but with compliant wheels. | ||
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| After similarly mounting the intake to a drivebase with modified bumpers, a few conclusions were made: | After similarly mounting the intake to a drivebase with modified bumpers, a few conclusions were made: | ||
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| Based on our prototype testing and our initial design goals, we decided to continue with the cutout intake because of its simplicity, robustness, and lower overall retracted profile. | Based on our prototype testing and our initial design goals, we decided to continue with the cutout intake because of its simplicity, robustness, and lower overall retracted profile. | ||
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| + | ==== Final Design ==== | ||
| + | The final design consists of two rollers, the first with 2-inch compliant wheels, and the second with 2 inch mecanums and a center 4-inch compliant wheel. The rollers are powered by two BAG motors with a 3:1 gearbox and power is transmitted with pulleys and belts inside and outside the arms. The intake is retracted and extended using two pneumatic cylinders and pivots on two 1x1 uprights. | ||
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2022_intake.1660530838.txt.gz · Last modified: 2022/08/14 22:33 by rfhuang