Team #3691 FLL Technical Manual. Ashburn Robotics NXTreme (Team#3691)

Transcription

1 FLL Team # TechManual NXTreme FLL doc Body Forward Page 1 of 44

2 TechManual NXTreme FLL doc Body Forward Page 2 of 44

3 Ashburn Robotics NX-Treme (#3691) FLL Season First Row, Left to Right- Austin, Michael, Nathan, and Jacob. Second Row, Left to Right- Head Coach, Mr. Mark Vanderlyn, Kaustubh, Alex, Kyle, Lindsey, Katherine, and Coach Dinesh Rane. Coaches not in Picture- Mrs. Susan Vanderlyn, Mr. Nick Duan. TechManual NXTreme FLL doc Body Forward Page 3 of 44

4 Contents OBJECTIVE... 5 CHALLENGE... 5 THE MISSIONS... 7 ROBOT ANATOMY & SPECIAL FEATURES... 8 ROBOT ATTACHMENTS Experimental Attachments Removable Wheelbase Attachment 1 - The Patent Grabber Arm Attachment 2 - Syringe Releaser and Doctor Catcher Attachment 3 - The Stent Inserter Attachment 4 Pacemaker and Cardiac Patch Cart Attachment 5 The Cast Carrier Attachment 7 The People Deliverer Base Setup Jig DESIGNING OUR ROBOT ROBOT MISSIONS AND STRATEGY Program One Program Two Program Three JOY OF PROGRAMMING PROGRAM Overview Strategy Mapping Program 1 - Code Program 1 Missions PROGRAM Overview Strategy Mapping Program 2 - Code Program 2 Missions PROGRAM Overview Strategy Mapping TechManual NXTreme FLL doc Body Forward Page 4 of 44

5 Program 3a - Code Program 3 Missions PROGRAM OVERVIEW AND SPECIALTIES Program Program Program PICTURES - ROBOT IN ACTION Objective This document is a technical design manual and provides detailed information about our efforts for the FLL 2010 Body Forward Challenge. The manual captures the information around Robot design and programming aspects of the challenge. Challenge This year s challenge is focused on the human body. All its corresponding parts directly relate to the theme of bioengineering. As always, teams are encouraged to find TechManual NXTreme FLL doc Body Forward Page 5 of 44

6 a problem in their community, research it and create their own innovative solution. This year s theme is called Body Forward. Teams are requested to identify a problem, and then create an innovative solution. They have to figure out where their solution fits: Body Repaired Body Healed Body Improved TechManual NXTreme FLL doc Body Forward Page 6 of 44

7 The Missions As part of this challenge, we will complete as many missions as possible in 2 1/2 minutes. We have designed both the robot programs and the necessary attachments to accomplish the following missions. TechManual NXTreme FLL doc Body Forward Page 7 of 44

8 Robot Anatomy & Special Features The following are some of the key elements that we used to maximize the robot s performance across multiple missions. Key features of our robot include: Compact design -turns precisely and uses KISS principles to create the simplest solution we can; the robot is also braced to increase structural integrity. Direct drive two powered wheels with servo motors in the rear and two very small tread-less wheels in the front to reduce friction 5 sensors -into 4 sensor input ports. We used the RCX converter cables, which can be stacked like normal LEGO bricks, to attach two touch sensors into the same input port. This allows us to put a touch sensor on the front and back of the robot and gain one extra sensor input. Short cables helps with clean cable management and keep wires out of the way. Wall runners - help to tell the robot where it is by aligning with table walls. Two bumpers one in front and one in the back; when either is pushed; the robot recognizes it as a touch. Simple attachments are easy to take off or put on, allowing for quick changes. TechManual NXTreme FLL doc Body Forward Page 8 of 44

9 Universal arm allows for simple modular attachments. Alignment jig - allows the robot to start at the same place for more consistency when leaving base. We built twin robots to help in developing new solutions while always maintaining a working version. Pictures illustrate some of the most important parts of our Robot Light Sensor 2 Main Drive Wheels 3 Universal Arm 4 Wall Runners 5 RCX Converter Cables 6 Touch Sensor 7 Color Sensor 8 Ultrasonic Sensor 1 TechManual NXTreme FLL doc Body Forward Page 9 of 44

10 1 Light Sensor 2 Main Drive Wheels 3 Universal Arm 4 Wall Runners 5 Not Used 6 Touch Sensor 7 Color Sensor 8 Ultrasonic Sensor 9 Panel Flipper TechManual NXTreme FLL doc Body Forward Page 10 of 44

11 Robot Attachments Experimental Attachments Removable Wheelbase We considered using a removable wheelbase so that we could get the patent faster. Our current time to get the patent is about 4 seconds. With the wheelbase we could lower our time to about 1.5 seconds. The ratio of gears is 48:48:8 or simplified 6:6:1. This ratio gives the robot a mechanical advantage of 6. It increases the speed of the original motors by six times. We stopped using it because of gear slippage. Another attachment we considered was a crossbow that launched a projectile from base. This way was faster than the secondary base, but was very unreliable. TechManual NXTreme FLL doc Body Forward Page 11 of 44

12 Attachment 1 - The Patent Grabber Arm This LONG arm is designed to grab the Patent in < 3 seconds. This arm is made out of a lightweight combination of axles, friction connector pegs, beams, bushings, and 45º and 90º angle beams, which make up the actual curvature of this attachment. This attachment used to be extremely heavy, unstable, and unreliable, but we solved this problem by using less beams and the combination of pieces mentioned above. This attachment has a reliability rating of 19/20 (95%). The arm is easy to put on and take off because of a set of specially designed pins. You only have to slide the pins in on each side of the arm, and WALLLAA! The arm is connected and very stable. TechManual NXTreme FLL doc Body Forward Page 12 of 44

13 Attachment 2 - Syringe Releaser and Doctor Catcher Before: Previously we used a very large arm that, though it was constructed of axles, was too heavy to accurately control. We lowered the arm in three steps but it sometimes shifted the robot s position as it lowered. This approach was rather unreliable which caused us to develop a new attachment. After: This attachment quickly slides on the bone arm. Once it is put on and wheels are removed, the robot is ready to attempt the challenge. The small box collects the doctor, and is created entirely of axles to keep it light and easy to control. The axles on the side push down the lever and release the doctor. TechManual NXTreme FLL doc Body Forward Page 13 of 44

14 Attachment 3 - The Stent Inserter Our original design only had the axle to hold the stent and it flipped down from the back of the robot. Unfortunately, because of the small target area, for the stent it wasn t reliable and so it was modified. The purpose of this attachment is to deliver the stent, even if the robot entered on an angle. The attachment was designed to lock into the bottom of the back bumper of quick attachment. It also has 45 degree angle pieces on the end to allow itself to easily lock into the artery. Recently a piece was added behind the axle that holds the stent, to move backward and trigger the touch sensor once it hits the walls of the artery. TechManual NXTreme FLL doc Body Forward Page 14 of 44

15 Attachment 4 Pacemaker and Cardiac Patch Cart The purpose of this cart is to carry the cardiac patch and the pacemaker together so that both the missions can be completed in one run. It is designed so that it can be driven to the heart and left there. It is attached to a small axle on the front of the robot, meaning while the robot drives forward and turns it stays attached, but when the robot backs up, it is left behind. Also, the cart is made to let the Pacemaker stick out and for the patch to be inserted into the heart without the gray part of the pacemaker going inside the heart. Attachment 5 The Cast Carrier TechManual NXTreme FLL doc Body Forward Page 15 of 44

16 This attachment is for carrying and delivering the cast and bone bridge as well as testing the leg. There are two L shaped LEGO Technic bars, which are connected to wheels. These wheels help to close the bone, and absorb some of the shock as the arm lowers. The axels hold the bone bridge at the correct angle to be delivered and the wheels are used to help kick the leg and it is left in its kicked position for the third program. Attachment 7 The People Deliverer This attachment is a box attached at the back of the robot that delivers the people and the blood cells to the target area at end of the match. TechManual NXTreme FLL doc Body Forward Page 16 of 44

17 Base Setup Jig We use this jig to help us set up the robot in base. The jig lines up perfectly with the corner of the table. Inside, it contains two Lego weights. The Lego weights are there so that the jig does not move easily. We don t want it to move and change where the robot is set. We made this jig so that we wouldn t have to look at the lines on the base and put the robot at an approximate location. TechManual NXTreme FLL doc Body Forward Page 17 of 44