We decided to take the following actions to improve our robot as a result of what we learned at the Flowood qualifier.
– Use only one arm for the skyscraper lift. This will give us some space to install a camera and a servo operated arm to move skystones during autonomous.
– Use a capstone that we can preload to cap the skyscraper. We need to design and build a mechanism for this. It takes too much time to travel and pick up a capstone from inside the depot.
– We need to finish up our autonomous program.
– Since we are not using a capstone that must go through the intake, we can remove the separate capstone clamping servo from our stone clamp. This will reduce both space and weight.
– We will not need to use a slide system to move the clamp into position over the foundation. We will continue to use our current flip out concept.
– We need to improve our speed of operation. We need to further adjust the stone intake. It is sometimes too slow in intake of a stone. We will exchange the robotâs drivetrain motors from Andy Mark 40:1 gear ratio to 20:1. This will speed up the drive without taking too much effort to change out. Also, we will use
two Andy Mark 60:1 gear motors, along with a duo gear box, to increase lift torque. We will string the lift for cascade operation instead of continuous operation. This takes more power ( 2 Motors) but is faster. See below for an illustration of how this works.
SEE REVISION OF 02-10-2020.