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Introducing A.R.T.

(Awesome Robot Thingy)


Robot Design Executive Summary Mindstorm Maniacs 3.0 FLL 2013

Our Awesome Robot

Robot brief description: A.R.T. is a really awesome robot that has four motors and four sensors. All motors and sensors are used for completing the missions. A.R.T. has a claw for grabbing missions, a karate arm for the plane mission, and can be turned into a cool 4x4 monster robot! The front plow is used for pushing the vehicles and swiping missions.

Mechanical Design
Durability: We used as many connector pieces when constructing our robot for added strength. The outside of the robot is designed for protection and stability. Lift mechanism has two drive chains for added strength Whenever possible we added extra support for handling strength and repeatable movements. For example, if the drive motors for the wheels were not connected tightly, the robot wouldnt go to the same location every time which screws up the rest of the mission. We used a gear ratio with the drive motors for the wheels for added power and speed. Mechanical Efficiency: We kept the number of removable attachments to a minimum to help with set-up time and errors. For the attachments we have, the connection is simple and easy to remember. We used gears on drive motors for the wheels to help with the power used to move. Drive Train: Base robot: Two wheels driven by a two separate motors with a gear ratio of 40/24. Base robot with added 4x4 wheel lift attachment: Using the above wheels as the drive for the 4x4 wheel lift attachment through friction between the tires, and the 4x4 rear tires drive the front tires by chains with gears. Counterweight We added weights to the robot by the drive wheels to keep the wheels from slipping. Ease of Use Items: Easy access to battery charging port Attachment connectors contained on robot with easy assembly. Positioning Accuracy: Used sensors to steer and position the robot

Calculations for Drive System


The wheels we used are 2-1/8 inches in diameter. The circumference of the wheel is: C = pi *diameter = 6.6759 inches Gear ratio: 40 teeth/24 teeth If the motor turns one revolution then the wheels will turn 40/24 times. To get the distance the robot will travel in one revolution of the motor, it is the circumference * ratio. C * 40/24 = 11.126 inches Example: For one inch of travel the motor turns 0.089 revolutions, or 1 inch = 0.089 motor revs. Facts: One revolution equals 360 degrees 1 inch = 2.54 cm

Mission Attachments

4x4 attachment for obstacles to safe zone. Rear wheels are rotated by robot drive wheels (through friction) and 4x4 front wheels are driven by chains from rear wheels. Easily attaches to bottom of robot and allows height to get over obstacles. Very sturdy!

Truck/Ambulance Guide Plow. Built to withstand forces of the vehicles if misaligned.


Other attachments:
Karate arm for releasing the airplane The Claw to pick up missions Container to carry pieces to safe zone.

Programming
We used WAIT blocks to use sensors to help position the robot more accurately:
WAIT block using angle calculated by GYRO sensor

WAIT block using light detection using color sensor

We used the two color sensors on the back corners of the robot to help align the robot up to the black lines

Corner 1 Sensor senses black line (straight forward direction)

Corner 2 Sensor senses black line (straight forward direction)

Corner 1 Sensor senses black line (turn reverse direction only one motor)

Programming
Using the motor controls for positioning robot, grabbing pets, and whacking the tree to drop the limb.

Forward

Grab pets

Whack tree

Turn back

Return to Base

We used the ultrasonic sensor to calculate the distance needed to damage only one tower:

Sense distance to towers

Calculate distance to move the drive motors

Drive straight forward to hit east side only

Programming
Monster truck steering program to keep the robot south of the obstacle north line.

This loop keeps the robot turning towards the wall using the Gyro sensor

Strategy and Innovation


Design Process
Here was our design process: We started with a tank robot with treads Not accurate, too slow Next we had a robot with steering (rack and pinion) Not reliable, too hard to get exact measurements Limited turning radius Final design: The final design is a two wheel independent drive system with bare front wheel for easy and reliable maneuverability (steering). Sturdy, durable, and easy to modify or add attachments Mission strategy order Plane and water tip (Tsunami) Points possible = 40 Truck and Ambulance in yellow area wheels touching mat, to twin towers with east tower damage only, to sign upright, to person by the House-lift taken to base Points possible = 165 Cat, dog, and tree Points possible = 30 Monster truck with container to carry pieces to safety zone Points possible = 202 Total Points for all above completed = 437

Mission Strategy

Strategy and Innovation


Innovation
Robot: two independent motor drives with 40/24 gear ratio for more speed/power Body of robot is designed for easy attachment Mission Attachment: 4X4 wheel base with unique drive attachment for easy, fast assembly Claw device for picking up mission items Karate arm for plane Sensors: Two color sensors used to align robot to black lines on the mat for positioning Gyro sensor for steering robot for more accurate turns Ultrasonic sensor used to determine distances needed to damage only one tower