Robot Overview:

Ultra-compact & Modular Drivetrain: 12"x12" mecanum drivetrain provides a highly versatile and modular drive base
7th Gen Claw Intake: Utilizes 4 servos to precisely intake one sample in any orientation
Efficient Slides System: Dual-motor powering with counterweight elastic springing optimizes motor efficiency
Instantaneous End-Effector: 4 Servos allow both samples and specimens to be deposited rapidly and efficiently, with minimal driver input needed
Rapid Hang System: Two axon minis run MGN linear rails, lifting the robot for L2 hang. An extra motor kicks in for a L3 hang in less than 4 seconds

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SEASON HIGHLIGHTS

Seasonal World Record

Behind the Bot

World Championship Finals

Worlds Recap

COMPACT: We sunk our motors into our drivetrain pods, redesigned the encoder caps to be 5mm more compact, custom designed an extremely small odometry pod, and belted our wheels on an overdrive ratio all to allow us to easily go around any robot or obstacle in our path
MODULAR DESIGN: We cut a 16x16 hole pattern into the inner sideplate, allowing for compatibility with both off the shelf and custom parts. Our intake, hubs, hanging mechanism, drone, and slides all mount to the inner sideplate and can be removed by only taking out a few screws, allowing us to rapidly iterate subsystems in single build sessions.

MULTI-STAGE: Each stage of our intake uses a different intaking method in order to optimize different qualities at different stages. The TPU spokes on the drop down allow for maximum controllability and consistency, while the later stages are optimized for efficiency and reliability.
DROP-DOWN: The first stage of our intake drops down using a linkage in order to reliably pick up from stacks during auto. Additionally, the linkage has a locked position that can be used to extend the intake range in tele-op.
OPTIMIZED FUNNEL GEOMETRY: We optimized our intake’s funnel geometry through rapid iteration. Starting out with angled walls at 45*, we tested multiple inclination and ramp angles using 3D prints and cardboard. After identifying the range of angles that worked best, we tested rounded and other non-triangular funneling methods before finalizing our geometry to be a rounded funnel filleted at a 70* horizontal angle.

COUNTER SPRINGING: Our 4-stage dual linear slides are sprung with elastic cords to completely counteract the weight of the end-effector system, optimizing the efficiency and acceleration of the slides (~20% faster acceleration)
HIGH-SPEED: Through dual-motor powering utilizing two 435 RPM motors belted on an overdrive and a calculated spool diameter that balances torque and speed, we are able to extend 27.891 inches in less than 0.515 seconds
ULTRA COMPACT PACKAGING: Our slides inserts use vertical bearings instead of horizontal bearings, allowing us to reduce the space between the slides while maintaining functionality. This compact version allows us to directly attach our counter-springing and wiring to maximize space.

INDIVIDUAL PIXEL DEPOSIT: Our unique dual claw prongs allow us to deposit each pixel individually.
PRECISE PIXEL REORIENTATION: Our pixel reorientation prong allows us to precisely reorient pixels on the board.
INSTANTANEOUS DEPOSIT: Utilizing an IR sensor to precisely deposit the pixels as soon as we are close enough to the board.
HERRINGBONE GEARS: Allow for a higher load-carrying capacity, larger total contact ratio and lower axial force compared to traditional gears

LIGHT & COMPACT: By using a lightweight and compact MGN9c linear rail + carriage for the drone launcher, we are able to achieve high speeds within a short distance consistently which also allows the launcher to take up less space.
CONSISTENT TENSION: Utilizing two bungee cords in parallel we were able to maximize the length of the bungee cord which helps to ensure a more linear and consistent acceleration for the carriage.
MINIMIZE FRONTAL AREA: In order to achieve consistent performance between each launch, the frontal area is minimized in order to reduce aerodynamic drag and lower the rotational moment of inertia on the roll axis.
UNIQUE PLANE DESIGN: We went for a delta-wing style plane with a low aspect ratio enabling it to rapidly rotate along its roll axis as it slices through the air, providing stability to the plane.

SERVO POWERING: Not wanting to waste an entire motor for the last few seconds of the game, we calculated the required torque to lift robot and utilized 2 high-torque servos with kevlar cord to raise the entire robot, allowing us to use an extra motor elsewhere on the robot

CONSISTENT TENSION: Through the use of springs, the tension on the delrin arms remain constant and absorb the impact force required while lifting the robot. This minimizes the force directly applied to the servos