Championship Archimedes Division captain

Coaxially driven dead axle arm

Behavior changes relative to localization

Specifications

• WCP Swerve X2i and X2t with X2 gearing and Kraken drive motors for acceleration and speed on short cycle distances.
• Hinged electronics shelf above PDH for improved packaging and accessibility
• Belt-in-Tube 3-stage continuous Elevator with kevlar-reinforced belt, powered by two Kraken X60s
• Elevator achieves 51 inches of extension and reaches 79 inches of height
• Powered star wheel hopper to quickly intake Coral
• The Intake’s 1/16” Polycarbonate minimizes weight and allows compliance for rapid Coral collection
• Coaxial gearbox on the elevator carriage that removes weight from the arm
• Coral End Effector incorporates 2.25” rollers with passive interior support minimizes overall footprint
• Algae End Effector has 2.25” Wheels integrated on Coral End Effector and 3” wheel position on Algae arm.
• Climber is deployed through a 15lb gas shock.
• Limelight 4 placed on scoring side of robot allows for highly accurate pose estimation
• Absolute encoder measures the arm position

Capabilities

• Spring-loaded Algae End Effector to allow early control of Algae off the Reef
• Can automatically align and score coral on all four levels
• Large, expanding intake which allows easy collecting from the human player station under defense
• Extensive controls allow one-driver operation
• 2910-style one bar climber provides efficient and rapid control of the Cage
• Damage from collisions is reduced by aluminum-backed, one-piece bumpers
• Fast, automated climbing with compliant wheels that grab the climber

Competitions

• Central Missouri Regional
• Greater Kansas City Regional
• MoKan State Championship
• Indiana Robotics Invitational
• CowTown ThrowDown

Links