Purpose: 2011 FIRST Robotics Comptition
Creator: Harrison Boiler Robotics (FRC 1747)
My Role: Mentor through Purdue FIRST Programs
- Lead students through design, fabrication, programming, and deployment of mecanum drivetrain.
- Lead strudents through the gripper design and fabrication.
- Assisted with programming debugging.
- Derived minibot equations of motion; used these to find the optimal roller size (given the minibot's mass).
- Took extensive phographic documentation of the final robot, for use in the team's documentation.
- Four 6" Andymark mecanum wheels.
- Each (independently controlled) wheel powered by a CIM DC motors through a 8.45:1 Toughbox Nano gearbox.
Controls: National Instruments cRIO-FRC (400 MHz)
- Solid-state gyroscope
- AXIS webcam
- Shaft encoder
- Limit switches
- Line sensors
Frame: Kitbot C-base, welded 1" box aluminum (anodized green)
Navigate the field: Nautilus's mecanum drivetrain and relatively lightweight construction enabled it to score as fast as possible.
Remain upright: The frame geometry and low center of mass allow Nautilus to easily remain upright while moving with the arm in any position.
Pick up tubes: The polycarbonate gripper can pick up tubes in fractions of a second, rotate tubes within its grasp, and withstand the worst collisions in competition.
Lift tubes: Once deployed from the starting configuration, the simple arm can raise tubes from the ground to 10 ft high using a single degree of freedom.
Deploy a minibot: Pneumatic actuators quickly deploy the minibot onto the tower (the pole the minibot must race up).
Minibot: A small robot which climbs a 10 ft pole in 1.2 seconds to win bonus points.