PI3 Fighters Robot

Build
Group Members

Zach Jones
Cam Powers
Liam Evans
Harrison Hecker
Purpose of Presentation

 Review past work

 Describe current state of the robot

 Present options for the future

Overview of Presentation
 Robot Mechanics
 Initial and final design concepts for robot aspects
 Description of Final Design
 Budget, code, and time spent
 Future Plans
 What team would do if development were to continue

 Summary and Conclusions

 Strengths
 Weaknesses
 Future Plans
Robot Mechanics
Overall Design

Mock-up Design Final Product

Overall Design

 Design Goals
 Sturdy design at no risk of tipping/losing grip
 Lightweight and cost-effective construction
 Changes between designs
 Redesigning of multiple components allowed longer base
 Multiple components given more height
 Less erector set, more MDF
Drivetrain
 Design Goals
 Accurate and easily defined
turning
 Accurate shaft encoding
 Enough torque for entire course

Mock-Up and Final Design

Main Servo Arm

 Design Goals
 Multipurpose for both Jukebox
Buttons and Burger crank
 Simple design not reliant upon
precise movements
 Quick in accomplishing tasks
Main Servo Arm

 Changes between designs

 Addition of second prong to fit both
Mock-Up Design
tasks
 Addition of MDF motor mount
 Rotated arm made from MDF
instead of 3D printed

Final Design
Tray Tower

 Design Goals
 Droponto the trashcan with little
variance in drops
 Simple and cost-efficient design
Tray Tower

 Changes between designs

 Remove as many moving
parts as possible
 Removal of
mechanical
drop method
 Addition of static ramp
 Addition of mini servo Mock-Up Design

Final Design
Ticket Arm

 Design Goals
 Arm drops down from upright position
 Able to be slid into the slot between the
ticket and wall
 Turning the robot is enough to slide the
ticket
Ticket Arm

 Changes between designs

 Changed orientation from the back
of the robot to the side
 Removed mechanical trigger,
changing to a balance-based drop
 Arm length changed with changes in
orientation and chassis

Mock-Up Design Final Design

QR Code Holder

 Changes
 Original height
increased to be
optimal distance
 Covering area
decreased for ease of
access to proteus
 Utilized
standard holder
provided by FEH
Mock-Up Design Final Design
Ice Cream Wedges

 Design Goals
 Upper and lower wedge sit at just the
right angle and length
 Drive in, push lever down with the upper
edge, back out
 Drive in again, push lever up with the
lower edge

 Design Updates
 Discussionabout separating the upper
and lower wedge
Mock-Up Design
Description of
Final Design
Code
Description
❑ Fully Modular
❑ Includes separate standard
methods for:
❑ Driving
❑ Turning
❑ climbing the ramp
❑ checking the position of the
robot using RPS
❑ Includes special methods for
each task. Example for
jukebox shown to the right.
Budget
Time
Spent
❑ Separate sections
❑ Total Time 231.5 hours
Future Plans
 Build the ice cream lever mechanism
 Resources: 1x0.5” Angle Bracket (x2), micro servo
motor
 Secure burger/jukebox arm
 Resources: time

 Fix RPS code

 Resources: time
 Refine code for ticket slider mechanism
 Resources: time, possibly new arm materials
Summary
Strengths

 Quick and consistent tray deposit and

jukebox mechanisms
 Replaceable parts
 Versatility
Weaknesses

 Positioning is unpredictable
 Ticket slider mechanism is inconsistent
 No ice cream lever mechanism
Future Changes

 Build ice cream lever

 Analyze and fix RPS and encoder counts
code
 Fix ticket slider code or redesign the arm
itself
Conclusion