Power Cube Intake
2018 FIRST Robotics Competition
Mechanical Skills Used:
CAD 3D Modeling, Prototyping, Iterative Design, FDM 3D Printing, Mechanical Assembly
Electrical and Programming Skills Used:
N/A
Software Used:
Solidworks
The challenge for the 2018 FRC competition involved the manipulation of a 13" Power Cube (shown below). The best robots needed to have the ability to intake the cube from any orientation.
I lead a team through the design, prototyping, iteration and fabrication of this manipulator. The soul design criteria in my mind was that the manipulator should be able to quickly and efficiently intake a cube from any angle.
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Starting off with a simple layout sketch I worked out the geometry of a spring loaded intake that utilizes compression and rotary motion in order to intake and reorient a cube. Following this, I fabricated a rough prototype using the layout sketch as a basis for dimensions, 2x1 extrusion, power drills as power, and surgical tubing as the spring component.
Promising tests lead to the design of the iteration shown below. The framework is 1/4" aluminum plate with lightning patterns, powered by 5:1 gear ratio VersaPlanetary gearboxes and spring loaded with 4" BIMBA piston actuators.
To keep the intake compact when the robot is in motion, I worked out the geometry to raise and lower the entire assembly using 8" 120-pound force pistons.
