1. Minibot Deployment Analysis 20 Jan 2011, Siri

2. How Do We Get There? Alignment Routes Direct Hit Wall Swing Around Routes also apply to same-side tower Overshoot

3. Route Comparison RouteLengthEaseIn Lane?Orientation Hit Wall (also skim inside) 24?YesClose Fit Long Overshoot33?PossibleEither Direct43?NoEither Swing Around11YesEither Point: We’re not going to get this right on the fly.  Auto-alignment  Driver feedback

4. Skills Speed Crab Snake Running into things Difficulties Little Time Poor Visual Possible Overshooting Unknown Start Position/Config Features Doesn’t require LoS Let’s us run into things Fast orientation to correct side (e.g. locks on correct side in spin) Robust Easy to Implement

5. Cases Direct Approach + Ease of implementation + Robust - Requires some pre-alignment - Hard to lock on in a spin Indirect Approach + Very little driver alignment + Fast + Locks on in a spin - Harder to implement -Less Robust? Going to happen. Need to Redirect force vector

6. Indirect Case Needs/Desires/Wishes Inside Shall have opening =30” [N], >35” [D], >45” [W] Shall slope (linear or non-) inward [D] Shall shape to base as much as necessary for deployment accuracy [N] Shall not interfere with deploying or racing Minibot [N] Outside Shall direct funnel opening around tower [D] Shall NOT misdirect robot along outside within last 5” [N], 10” [D], entire length [W] Shall not interfere with deploying or racing Minibot [N] Shall not exceed robot frame width when stowed (27”) [N]

7. Concept – Curved U (Hybot 7-work1) Self-guides around base (Robot won’t be able to strafe in this position  back up) Aligns without hitting guides

8. Concept – Curved U Stored (Hypot 7-work)

9. Tower Concept – Inverted Funnel Best Case for auto alignment Current Issue: Space  Approx 50” wide  Folded form stretches min 21”

10. Minibot Deployment Features FAST!! Never Misses Fast! Low weight & volume Fast! Thoughts Fast  pneumatics Consistent  guides Less-Known Rules Minibot can never exceed 12” cube Hostbot can enter base plane at any time

11. Deployment Actuation State Zero (Stored) Aligned: No On Post: No Released: No State Final (Deployed) Aligned: Yes On Post: Yes Released: Yes Interim States Aligning State Aligned: Progress On Post: No Released: No Our Specs require Aligning before Deploying. Aligning requires moving  Release must be false. Deploying State Aligned: Yes On Post: Progress Released: ?? Hostbot doesn’t move in Deployment  Release can be simultaneous Conclusion: 3 properties (2 conditions each), at least 2 must occur separately  2 or 3 actuations

12. Deploying vs Releasing These can happen simultaneously, but doing it with a single driven actuator requires some thought… Example: Minibot Box Latch is in front of Minibot in z-axis Minibot Pneumatic cylinder opens latch, kicks down wall/guiderails, and pushes out Minibot

13. Next Steps Test funnel shapes/bending Finalize U hinge & supports Prototype Minibots – Define deployment specs – If rails: how to “lock” on Post – If not: come up with something

14. Archive Tips will be rounded. Slight flex in ends. Likely 2 lengths of polycarb Approx 3” tall Post guides mounted to top

15. Archive

16. Possible Concept 1. Guide Rails drop down with Funnel 2. Pneumatic puncher pushes Minibot onto pole Open to other ideas… Might be nice if it deploys with the funnel Guide Rail indents (rails run above funnel & can be cross-braced)