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A.
Ideas for the Chassis:
● Solid box
● Ladder-shaped idea
● Hollow triangle idea
● Hollow box idea.
Ideas for Drivetrain
● Given: four wheels
○ 2 wheel drive
○ 4 wheel drive
● Tread
● Three wheels
Ideas for ticket:
● Arm that grabs ticket and slides
● Stationary arm
● Arm with arm
● Wheel on body that spins fast
Ideas for Jukebox
● Extending arm (non-contractible)
● Extension of robot to run into button
● Back up into button
● Contractible arm that contracts and hits button
Ideas for Ice-Cream
● Contracting arm
● Robot with hole in it - go through the lever to push it up/down
● Forklift idea
● Elevation changer
Ideas for Burger
● Wheel that spins on body
● Contracting arm
● Stick arm in wheel, turn
● Forklift
Ideas for Trash/Sink
● Platform on Robot
○ Tilt
○ Ram into side
● Contracting arm
● Forklift
● Spinning wheel
B.
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CHASSIS Weight Solid box Ladder-shaped idea Hollow box Hollow Triangle
Shape 1 3 2 2 1
Stability 3 3 2 3 2
Weight 3 1 3 2 3
Size/Area 2 2 2 3 2
Total 19 19 23 20

DRIVETRAIN Weight Four wheels: RWD Four wheels: AWD Treads 3 wheels RWD
Traction 3 3 3 2 2
Cost 1 2 1 1 3
Turning 3 2 3 1 3
Replaceability 2 2 2 1 3
Balance 3 3 3 3 2
Total 30 32 21 30

TICKET Weight Grabbing arm Stationary arm Arm with arm Wheel
Complexity 2 2 3 2 2
Potential damage 1 3 3 1 1
Versatility 3 3 1 3 1
Total 16 12 14 8

JUKEBOX Weight Extending Arm Extension Back up Contracting Arm

Accuracy 3 3 2 1 3
Complexity 2 2 3 3 1
Versatility 3 1 2 1 3
Potential Dmg 1 3 2 1 3
Total 19 20 13 23

ICE CREAM Weight Contracting arm Robot w/ hole Height change Forklift
Accuracy 3 1 1 2 3
Reversibility 3 2 2 1 3
Versatility 2 3 1 1 1
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Complexity 1 1 1 1 3
Total 16 12 12 23

BURGER Weight Contracting arm Spinning wheel Forklift Stick arm in wheel
Grip Strength 3 2 1 2 1
Versatility 2 3 1 2 2
Complexity 2 2 3 3 3
Range of Motion 2 3 1 2 2
Accuracy 2 3 1 3 1
Total 28 15 26 19

TRASH/SINK Weight Contracting arm Tilting Platform Ramming Platform Forklift

Can it carry tray 3 2 3 3 3
Placement 2 3 3 1 2
Versatility 2 3 1 1 2
Repeatability 1 3 2 1 2
Total 21 19 14 19

C.
1. Combination #1: Hollow box, Four wheels: RWD, One arm (omnidirectional)
2. Combination #2: Solid box, Four wheels: AWD, Forklift
3. Combination #3: Hollow box, three wheels: RWD, Two grabbing arms

Combinations Weight Combo 1 Combo 2 Combo 3

Task 3 3 2 3
Accuracy

Cost 2 2 1 2

Mobility 3 2 3 2

Overall 1 3 3 2
stability

Total 22 20 21

D.
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Combo 1:
The chassis of this layout consists of a hollow box. The sides do not necessarily have to
be too tall, we just wanted to remove any unnecessary weight from the robot so that we could
put less strain on the motors. The drivetrain consists of four wheels, two on each side of the
robot. Only the wheels in the back of the robot will be able to move. In order to complete the
tasks, we will incorporate an omnidirectional arm. To make it omnidirectional, the robot will be
able to move up and down from the bottom of the arm and right and left from the middle of the
arm. The arm comes out of the middle of the chassis.
The pros of this model are that it's lightweight, the arm can do most of the tasks, and it
should be stable.
The cons are that it’s not as mobile and fast since it has only rear-wheel drive.
Furthermore, if the arm happens to break, it would not be able to do anything.

Combo 2:
Solid box design with four wheels for stability. The box itself may be indented so that the
proteus can securely be set inside. With four wheel drive,it does not lack power compared to the
other designs. It excels going up and down the ramp and has good control for turning. All four
wheels are under the chassis and are not Omnidirectional. Movement and turning would be
done with the powered and unpowered wheels from each side. Has a forklift on the upper region
of the robot to complete the majority of the tasks. The forklift has a wide gap in between the
pinchers to do some of the tasks like the ticket. The pros of the forklift is it is rather easily
implemented and it has a good cost to make. It would likely only require a single motor to
operate. For the tasks that it can do, it excels with low margins of error. The downside, however,
is that the task accuracy is not as good as a contracting arm. The versatility of the forklift is poor
compared to a contracting arm as well.
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Combo 3:
Combination #3: Hollow box, three wheels: RWD, Two grabbing arms
This combination will consist of a hollow box that is propped on 3 wheels. The two back
wheels will be mounted through the back of the hollow box and a motor will be applied to each
wheel to make the robot move. An omnidirectional wheel will be placed at the front of the robot
on the bottom of the chassis. This will make it so that the robot will be able to turn freely when
different powers are set by the back two wheels. The grabbing arms will each be powered by a
motor that will allow them to move up and down for the tasks that are required. One arm will
move up and down, while the other moves side to side. There will also be a motor that will open
and close the arms for the different tasks. The proteus will be in the chassis which will allow
easy access to the necessary ports for each of the things that we need to connect to it. The
downside of using this idea is the number of motors that will be required to finish it. It will be
difficult to find a way to configure the wires for this idea. The other con is that it may not be as
stable as the other two ideas because it has one less wheel and therefore may fall while it is on
the course.
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Strategy 1:
Rank 1

Strategy 2:
Rank 2

Criteria
● Time
● Risk
● Number of points
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● Availability of holding the tray

● Direction
● Number of times going up ramp