Motors: Andymark and Pitsco
Wheels: Andymark Mecanum Wheels
Control System: 2 REV Expansion Hubs
Our Build Journey
For our drivetrain, we use 4 motors, each connected to an Andymark mecanum wheels which allows us to translate sideways when moving. The whole drivetrain has been redesigned in order to keep everything as flat and as low to the ground as possible to save space for other mechanisms. We utilize custom fabricated metal to make our drivetrain as strong and robust as possible and we mount our control systems flat against the drivetrain.
This year, we wanted to avoid traversing the crater and instead score minerals from the outside of the crater. This meant that we needed a collection mechanism that would extend into the crater. We also wanted to score into the lander and do this by depositing minerals from the collector by using an arm. After our first qualifier in December, we did a complete redesign and have been working on a completely different robot for the past few months.
In order to collect minerals inside of the crater, we use a simple box design with spinners on the front. At the end of the collector is a small depositor that extends out using elastic, so that it can retract inside of the robot when retracted. There is also a passive sorter in order to sort between gold and silver minerals and a servo controlled gate that allows us to control when minerals are released. The collector also has omni wheels at the bottom in order to freely move around the playing field.
Our collector is mounted onto a robust arm and sits between sets of drawer slides. Each set contains two drawer slides which allows us to reach far into the crater to gather minerals. This whole arm is connected to an axle and driven by a single Neverest motor geared 256:1. This power also allows us to hang our robot by this arm, so a hook is also mounted on the arm. We use two servo latches on either side of the arm so we could keep the arm in while hanging on the lander without power being supplied to the motors.