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FIRST Robotics Competition 2014 - Aerial Assist
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The Game:
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Summary:

'Aerial Assist is played by two competing Alliances of three robots each on a flat 25’ x 54’ foot field, straddled by a truss suspended just over five feet above the floor. The objective is to score as many balls in goals as possible during a two (2)-minute and 30-second match. The more Alliances score their ball in their goals, and the more they work together to do it, the more points their Alliance receives.

The match begins with one 10-second Autonomous Period in which robots operate independently of
driver. Each robot may begin with a ball and attempt to score it in a goal. Alliances earn bonus points
for scoring balls in this mode and for any of their robots that move in to their zones. Additionally, each
high/low pair of goals will be designated “hot” for five seconds, but the order of which side is first is
randomized. For each ball scored in a “hot” goal, the Alliance earns additional bonus points.

For the rest of the match, drivers remotely control robots from behind a protective wall. Once all balls in
autonomous are scored, only one ball is re-entered in to play, and the Alliances must cycle a single ball
as many times as possible for the remainder of the match. With the single ball, they try to maximize
their points earned by throwing balls over the truss, catching balls launched over the truss, and scoring
in the high and low goals on the far side of the field.

Alliances receive large bonuses for “assists,” which are earned for each robot that has possession of
the ball in a zone as the ball moves down the field. Points are awarded for each action per the table
below. '


Robots:

• Dimensions at start of game 112" robot perimeter. 60" tall
• Robot may not extend more than 20" outside the frame perimeter during the match
• Weight not to exceed 120 pounds, excluding batteries and bumpers.

Scoring:
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Our Robot: Thanatos

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Sensors:
Two encoders on drivetrain


Drive Train:

-4WD 4” Diamond Tread VexPro Traction Wheels
-4CIM and 2MiniCIM powering single speed Direct Drive
-geared at 11:72 for approximately 12 fps

Sub-Systems

Shooter:
-linear shooter using two stacked COTS compression springs
-springs compressed in the “spring box” usinbg a stainless steel plunger
-Igus rod with plastic hub and lexan to “punch” the ball
-pulled by a custom winch

Winch:
-repackaged VexPro BallShifter and AM Toughbox powered by one CIM geared at 35.7:1
-uses a 2” bore cylinder to shift the ball shifter into neutral, releasing the shooter
-attached by a pulley to the back of the shooter rod

Fork:
-one inch polycarbonate bottom “prongs” to hold the ball up
-50% polycarbonate top “prong” with roller on end
-roller 16” across, two 4” VexPro DT wheels on the outsides, four 2” Banebot wheels in the center
-roller powered by a 20:1 Versaplanatary gearbox
-top arm pivots using a 1 ¼ ” cylinder to open for shooting and passing, closes for pick up and ball control
-claw pivots like an inverted pendulum using a 147:1 custom gearbox coded using “PIDulum”
-0.100” sheet metal “wings” halfway up the claw to prevent sideways movement of ball in fork

Drive Team:
Driver: Emma O
Operator: Nolan W
Drive Coach: Krysta P
Human Player: Lauryn F