We use only one motor to reduce the weight of the structure and to improve the lifting velocity. With a chain transmission, we rotate 2 wheels from each side in order to pick up the cubes.
We have built a double parallel bar in order to raise the collected cubes. We think that this is the best and fastest way to introduce the cubes in all the necessary places of the field. We control this structure with one potentiometer. We have programmed 3 determined positions. One for the nuclear plant, one for the combustion plant and one for the ground (Start position) to make it easier to drive for the drivers.
Our base’s drivetrain has two levels: in the higher one there are the motors and in the lower one there is the axle that goes trought the wheel. Our base has 4 motors with a chain system to gain velocity because we want a very fast robot. We want the fastest robot because the field is very large so we believe that the velocity is a factor that can detrminate the winner of the match.
The purpose of our sliders is to help in aligning the cubes before picking them so its easier to do so as well as in aligning the robot before dropping cubes in the designed locations.
They can slide forward and backward and are programmed to move to three different positions based on one magnetic sensor (two magnets) and one limit switch per side.
The servo rotates a gear which is engaged to the chain that moves the sliders. We have build a flexible chain tensor to fix the chain-gear position.
This little arm is used to catch and lift the solar panels and to adjust the position of the wind turbine so we can easily rotate it with our wind turbine’s arm. With a potentiometer we have set a determined position to fit in the wind turbine so we don’t need to maneuver.
It also allows us to avoid a possible overturn.
This is our solution for the wind turbine part of the challenge. We have used a servo because not much power is needed for the task.