Embedded Files
2024 Robot
Designed and built two identical 15” × 15” × 15” robots for full scoring, descoring, and field traversal in Over Under. Each robot used an 8-motor, 8-wheel drive system achieving 8.5 ft/s, with a collapsible profile under 6 inches for navigating under goals. Integrated a dual-wing system for object control, a 2-DOF intake arm capable of extending 8 inches to retrieve triballs, and a custom catapult system. Included 50+ custom components per robot, including 3D-printed gears, custom gearboxes, and metal hardware. Both robots are identical to streamline tuning, strategy, and maintenance. The robot consistent of 3 main systems, chassis, catapult, and intake, the motors for all these system were designed to fit into 1 structure that holds all the electronic components.
Perrybotics Engineering Notebook 2024.pdfChassis Design:
The robot was designed holistically, with all subsystems developed in parallel after establishing clear design requirements: it had to score, descore, and climb obstacles. From this, it was clear the chassis needed to be robust, lightweight, and low-profile. Initial 2D geometry was created in Onshape to map out the base layout, including motor positioning for the drivetrain, intake, and catapult. The structure was built from ½” × 1” aluminum tube stock and assembled using gussets and rivets. The drivetrain featured eight wheels—traction wheels inside and omni-wheels on the corners—driven through a 1:1 gear ratio to maintain full drive power even if wheels lifted. The robot could climb 3” obstacles. The catapult gearbox used a 1:5 torque ratio with triple slip rings, enabling up to 60 shots per minute. The catapult used an adjustable metal wire hard stop. All forces were routed into the main chassis tubing, protecting the shafts from stresses.
Intake Design:
The intake was designed using 2D geometry sketches to define the triball path and guide it directly into the catapult. It uses a 2-degree-of-freedom arm, with the first linkage actuated by pneumatic pistons and the second linkage controlled by a chain-driven dual-motor pitch system. A separate motor powers both intake rollers through a chain routed along the pitch axis to eliminate slack. The first linkage is made from ½” × 1” aluminum tube stock with gussets, and the top roller is 3D-printed from PLA.
Manufacturing:
Robots were built from ⅛” CNC-routed aluminum plate, ½” × 1” aluminum tubing (manually milled and drilled), and black PLA parts printed on Prusa MK3S+ machines. Metal components were powder coated in-house for fun. All critical tolerances were controlled in CAD.
Assembly:
Chassis and superstructure used a riveted gusset system. All major subsystems—including the catapult, drivetrain, wings, and intake arm—were preassembled as modular units.
Page updated
Google Sites
Report abuse