Today we made progress on multiple prototypes and came up with lots of new ideas to try! our main goal is finding the best way to hold the totes. We prototyped 3 ideas a hook system using poly carbonate, and a conveyor system.
The conveyor system was deemed to complex and heavy for any further prototyping, but the tote holder and wheels for the conveyor were used to try and make it easier to bring the tote in toward the robot.
here is a lock mechanism for holding totes above the elevator:
here is the wheeled grabber running with 100:1 gearboxes and 4 inch super soft banebot wheels:
here is the polycarb hooks:
here are the prototypes in progress of working:
here is the bin being taken to feeder station and loaded with pool noodle:
We made the decision to go 6 wheel drive with omnis in the from and vex traction wheels in the back.
we plan to have the drive gearboxes direct driving the back wheels for counter balancing and place battery in middle and winch towards the middle.
We have also chosen to go with a 2 speed gearboxes so that we will be able to go 7.1 and 14.7 fps calculated.
make the wheel grabber more secure and mount to drive base
make it easier to line up with the polycarb hooks
build bumps and feeder station
design gearboxes for drive
design winch gearbox
Test wheel grabber to get totes out of way for getting center bins
change planetary gearboxes to 75:1