Replaced metal angle brackets with custom 3dp mounts for fixing the gearbox coupling plate to the top plate, as well as added extra stabilizer with bearing for reducing the back lash when moving the turret.
Added mounting points for the battery, as well as organized part and mate names throughout the entire file.
Assembled one side of the drivetrain; found out that the clearance between the motors is too small, so the pulleys touch each other, the holes are to close to the motor cut outs, and the tension for the long side of the drivetrain is too high, so c2c needs to be smaller
Made countersunk holes for the screws on the main robot side plates
Added an isolated mount for the odometry computer, holes for mounting power switches and pocketed everything to reduce weight.
Tried various options for mounting the Limelight 3A camera, however came to a conclusion, that the method we used on our old robot was already optimal.
Added bottom plate to prevent wires from rubbing against the ground at the back, under the control hubs. Implemented transfer motor that spins the transfer at 3000 RPMs. Added intake/transfer placeholder geometry and started looking for optimal limelight mounting position.
Created rear odometry pod mount, so it fits between the control hubs of the robot
During this session I created the servo gearbox for rotating the turret that is powered by 2 axon mini servos with a 1:1 gear ratio.
Added top plate, searched for turret’s gear position
Added hardware to the transfer sub-assembly, moved the back odometer closer to the center, searched for optimal control hub placement position
During this session I finished the drivetrain with all of the screws, bearings, belts, etc. I also added horizontal and vertical odometer assemblies.
During this session I refactored all of our sketches for the plates (I once forgot to turn on the timelapse after a break, so it was a bit closer to 3 hours than 2). I also started assembling all of the drivetrain into a main assembly. Next goal is to finish the drivetrain with motors, add odometry, and then decide what is logical next step to do.
Added proper shooter mounting onto the turret via 4 l-brackets and tpu shims for absorbing vibrations.
Added a CAD model of lazy susan bearing, started making shooter mounts to it. My previous session did not save, however I tried moving the motors closer to the main flywheel in order to test the shooter out with the belts of length we had. This caused a lot of structural issues, with plates bending, as well as made it impossible to fit the large flywheels the way we had planned, so we decided that we will stick with the motors mounted on the back and longer timing belts.
During this session, I had a meeting with my teammates, where we went over the existing main robot sketches, discussed how should we develop the robot further, and finalized our robot’s master sketch / layout.
During this session I removed the bottom connecting part to make the manufacturing of parts easier, as well as added a standoff for the top, to pull the both plates together and prevent the shooter from spreading and developing play in the hood mechanism. I will now start the print for the parts and tomorrow at school will try to assemble and see if anything works.
Changed pins from 3D printed to screw heads, to reduce the chances of fracturing due to stress, as well as make manufacturing a bit easier.
During this session I added a servo mechanism, that pivots the latch and so can stop the incoming Artifacts from being shot prematurely. Also, I designed a pin-slot style rail mechanism for the adjustable hood, which is also powered by a single servo, however the tolerances will need to be tested separately before final design. What is more, I added mounting points, that allow mounting this sub-assembly onto our existing old robot for testing and added pocketing to reduce the weight.
Added centering grooves for the main ramp so it can be printed and tested; added plate for Artifact trajectory centering after launch; added mates for the latch.
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