ROBOT DESIGN PROPOSAL

LUNAR BEES

Summary
The Lunar Bees are designing a lunar robot that will be capable of winning the LEGO Moonbots prize. We combine a unique 4-wheel drive, Ackerman Steering body with with advanced sensors such as EOPD and compass sensors. We monitor the robots progress with PID algorithms to know our exact position and can precisely pick up samples with our FornariArthur manipulators. Our extensive robotics experience in FLL, FRC, and Moonbots puts us in a unique position to claim the prize this year.

Propulsion
For maximum traction and control our robot uses 4 wheel drive with a motor dedicated to each wheel. The motor, gearing, and wheel are assembled into a compact pod that provides a perfect balance of power and speed. The two front pods are steerable using Ackerman steering which allows precise turning and repeatability. A unique separated chassis allows the robot to twist in the center keeping all four wheels on the ground over uneven terrain.

Navigation
The robot uses a magnetic sensor to determine orientation. A software algorithm compensates for local variability in the magnetic eld. EOPD and ultrasonic sensors are used to measure distance from side walls very precisely to augment the heading information. With this information we can accurately pinpoint our XY coordinates and orientation on the eld and allows us to move about the eld very accurately, by just entering the desired destination coordinates.

Manipulation
The random position of the loops presents a unique challenge. We have developed a simple lifting arm that is capable of lifting all required samples simultaneously. The end actuator of the arm, the Fornari-Arthur Mechanism, does all the fancy work. It allows easy insertion into the samples and ensures that the sample cannot release from the arm.