Today we downloaded all the necessary software needed to run the calibration program (OpenCV, Eclipse C/C++, MinGW, etc.) however, we did not finish this.
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The goal of the project is to have the OpenCV calibration code to read the camera input automatically so that we can see what angles will work for calibration before we take the picture. At this point, we just need to attach the comb to the shaft in order to finish assembly and begin testing.Īfter manually calibrating one camera with limited success, we decided to automate the process to make calibration quicker and more accurate. We then connected the motor to a shaft by using gears and bearings. Besides this, we also created the housing by attaching a VersaPlanetary enabled motor to a wood structure. After this, we cut these parts out and tested it by ensuring that rope with knots would successfully hook onto the comb. We completed the comb by measuring the diameter of the string to find the distance between each prong of the comb.
Today, the rope-climbing project finished prototyping a “comb” to grab the rope as well as housing to connect the comb to the robot for testing. The gearboxes will sit in the two cutouts in the back corners and the gap in the middle will be for a gear intake mechanism. Regarding the drivebase weldment, We modified it to have a cut out in the back. Through the design of the gearbox plate, we were able to save 0.04 pounds in a game where the robot weight is inversely proportional to its speed. We also added spacers, an intermediate shaft, and designed a new front gearbox plate. We decided to have a two stage gearbox with a dog shifter in anticipation of heavy defense, allowing the robot to have speed and maneuverability based on the situation. We started by pocketing the gearbox plates, a method used to reduce weight while maintaining the structural integrity of each plate. Today we finalized the CAD Design for the Drive Gearbox, which is now almost ready for manufacturing. At the build tomorrow (Saturday), the main focus will be to finish building the prototype and look at potential ways of packaging the design give the tremendous size constraints presented. Although we were not able to fully test the design today, these improvements should theoretically allow us to manipulate the gear in 360 degrees, something we were not able to do previously. Although this design seemed to be very similar to the previous version, a new key feature was added: A locking system for the claws while they are grabbing onto the gear. This worked out well because we were able to get the whole thing laser cut and fully constructed relatively quickly. Throughout the course of the build today, we worked on constructing the 3D CAD design that one of the students made the day before. For the future, we still have to see how effective the new design is before we CAD the real intake for the robot, but it is likely that this will be the preferred design because of the simplicity of having just 2 rollers. We are still in the assembly stage of the new and improved version, so we will see tomorrow how well it works with the improvements. The compression seemed to be too little at the top of the bumper because we didn't account for the bumper compressing alongside the ball, so we went back in CAD and redesigned the geometry of the upper roller to have increased compression. the compression was too little on top of the bumper and it sometimes got stuck. Taking the intake design from yesterday using two polyurethane rollers, we laser cut and assembled it, discovering that while it was able to pull balls up and over the bumper, the balls sometimes got stuck. While we did not have enough time to finish developing the prototype, we have all of the pieces and can finish it quickly tomorrow.
We scavenged the 3:1 VersaPlanetary gearboxes from our previous prototype. In the process of setting up the next prototype, we found we lacked enough polycord pulleys, and machined more out of some delrin stock. As we proved this flywheel could attain a high throughput, we transitioned today to begin testing different wheel types and compression as well as the conveyor system.