FTC Basic Design By Andrew Rudolph

What are we designing? STRATEGY DRIVES ROBOT DESIGN NOT THE OPPOSITE!

What are we designing? The Road to Reality

2012 – 2013 Robot Rules Not the same as it used to be

Robot Rules ” x 18” x 18” – No weight limits No mechanisms which: Damage Playing field Damage or flip other robots Entangle Sharp edges Use hazardous materials

Robot Rules Only can use preformed robotics components from: Lego Tetrix Matrix

Matrix? Designed to bring costs down of FTC overseas Designed off standard lego grid Different motors Different motor controllers Different Gears and wheels Possibly thinner metal Belt system CV Axles Check some of the offerings at: Observed at World Championship exhibit

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Robot Rules Only COTS (Custom Off The Shelf) items allowed: Linear Slide Non-motorized Turntables and Lazy Susan Lead screws and threaded rod plus compatible nuts Servo Blocks #25 Chain and connector or half links

Robot Rules Unlimited in quantity or size of the following: Raw material available to all teams from standard distributors Standard bearings or bushings Fasteners Rope, Cord, Cable, monofilament, … Rubber bands Latex tubing Zip ties Nonslip pad without adhesive backing Electrical solder, tape and any type of glue/cement Any COTS lubricant as long as it doesn’t get on stuff

Low Resolution Design You’ll get HDTV later

Low Resolution Design Drawings

Low Resolution Design Cardboard Mockups

The game piece What can I do with this game piece? What is the raw data on the game piece? Size Weight Center of Gravity Hard / Soft / Bouncy Are there any unique features I can use to my advantage?

Sample Analysis The Crate from " L x 7 7/8" W x 6 1/8" H Covered in.75” dia. holes Hard Plastic Ideal for organizing CDs, DVDs or smaller items in the office, bathroom or college dorm room.

What tasks within my strategy do I need to perform? Are you going to… acquire it? manipulate it? store it? lift it? position it? release it?

The game piece Think like a robot about the game piece: What does the game piece look like from the robots POV? What are all the ways the game piece could lay? What is the most usable or stable position? How does the object react?

Break time!

Drive Trains 2wd Casters / Omni wheels on end Difficult to drive Highly maneuverable Easy to get pushed Low payload

Drive Trains 4wd Easy to drive Can be low maneuverable Good pushing Easy to balance weight

Drive Trains 6wd Drop center gives best of 2wd and 4wd Easy to drive Can be low maneuverable (w/o drop center)

Drive Trains Holonomic Maximum maneuverability Difficult to code / drive Easy to be pushed around Complex design

Drive Trains Tread Lower Center for maximum maneuverability FTC treads tend to slide Snap easily with side load

Mobility Analysis

Speed Reduction Slower Speed Higher Torque Higher Speed Lower Torque 221 robotics systems chain breaker

Mechanisms Linkages

Mechanisms Lifts

Mechanisms Complex stuff

Medium Resolution Design Prototypes

CAD No surprises when you build your real robot Make changes quickly Package your electronics! Inventor SolidWorks Creo (PTC) Use online tutorials, or take classes at Community College rst&command=showProduct&category=FTC_KOP &product=FTC%20Kit%20of%20Parts rst&command=showProduct&category=FTC_KOP &product=FTC%20Kit%20of%20Parts Google Tetrix CAD

Paper Towers Make the tallest tower you can Must support at least 1 golf ball within 3” of the tallest point 3” bonus for every ball extra in top 6” of tower 1 Newspaper sheet 1 Strip of Tape Must be freestanding (i.e. cannot be taped to floors, walls, etc) Must pass a whoosh test Must spend 4 minutes minimum planning

General Design Tips Maximize your “Acquisition Zone”

General Design Tips Alignment Devices

General Design Tips Use Nylock Nuts

General Design Tips Keep your Center of Gravity low

General Design Tips Will stray objects interfere?

General Design Tips Make it easy to drive

General Design Tips Design is an iterative process

Other Design Mantras Really, simple IS better Assume Nothing Sometimes wild ideas lead to champions You don’t have to prototype everything… …just the parts you want to work.

Resources Alro Metals Plus - Orlando Oak Lane Winter Springs, FL (407) Metal sheet, extrusion, Aluminum, steel, brass, some plastics Can get new cut or from “drop” Laird Plastics LB McLEOD RD ORLANDO, FL Full sheets of plastic, lots of options, might have to order in parts, much cheaper than most places. McMaster-Carr Everything (i.e. bearings, bushings, hardware, tools, raw materials). Easiest website to find things on, fast shipping from Atlanta Warehouse, decent prices on most things. Fastenal Multiple Orlando Locations Hardware, in bulk, some tools, great prices. Grainger Like McMaster but much more difficult to use catalog / Website. Has a few local storefronts that can help find part or even stock. MSC Like Grainger Skycraft Surplus W Fairbanks Ave Winter Park, FL If you’ve never been you’re missing out. Great place to get wires and other ideas. Great kit for building your own PWM cables

Thank you.