ASCENT ZONE

[Areya46]

DESCRIPTION: The ascent zone is the area in which there are multiple ways to gain points, the point system goes as follows:

• Level 1: robot is in contact with the lower runs at the end of the match period
• Level 2: the robot is solely supported by the high/low run at the end of the match
• Level 3: Robot is sully supported by the high rug and the robot is above the lower rung at the end of the match

The objective of this issue chain is to come up with innovative solutions to gain the points

Other areas of the ascent zone where points can be made is by collecting the blocks that are within the structure

[Areya46]

ARM(S) WITH INTAKE AND HANG

Link to Youtube video: https://www.youtube.com/watch?v=Dzh9W9RgKVo

Design & how it would work:

• 1 hook is attached to the top of the vertical sliders
• A second hook is stationary on the robot (placed towards the front of the robot)
  1. Sliders will extend upwards
  2. When the slider reaches a certain height (right above the rung) it will contract slightly, making hooking onto the rung
  3. The robot will be pulled upwards
  4. The sliders extend once again

Pros:

• Can attach intake to the system, minimizing the excess weight added to the robot (can be added directly to the sliders)
• Is quick - uses the shape of the robot to help propel it to the next ring.
• Uses a pully like system - we used a system similar to this last year, but we can enhance it an use rollers if it is not possible

Cons:

• Sliders may not extend far enough
• If try to get to second bar with this system, the robot will bump against the bar on its way up - raises concerns about possibly damaging attached parts
• uses one hook - if robot's center of gravity is off, the robot could swing/fall/tip of the bar

Notes:

• Design can easily be modified to have two hooks (2 stationary and 2 on top of the slider)
• Uses a "climbing motion"
• The angled wall that they use to help slide over the lower rungs are similar to the angle we had on the walls last year - we should consider using walls like this
• Should not need anything to be 3D printed

How it can build it:

• Attach hooks to the front top of the robot, and one on top of the slider - the hook should be metal, or a hard plastic that is able to withstand the weight of the robot (similar to the material to what as used last year)
• Sliders (2-3 parts) should be sufficient
• Slides should be mounted on top the drive train
• The front of the robot should have a covering so that it is able to glide over the front over the rung that is trying to get above

Rough sketch on how it would look like on our robot:

[Areya46]

CLIMBING WITH ONE STATIONARY HOOK

Link to Youtube video: https://www.youtube.com/watch?v=pBavzFxeNc4

How it would hang:

Design and how it would work:

• Key Feature: Robot arm is on an axial is controlled by a motor
  1. Arm moves up and down, attached to it is a cube cube like structure that will act as the hook
  2. Slider(s) would extend upwards and then the axial would rotate, resulting in the hook grabbing onto the rung, and eventually lifting the robot off the ground

Pros:

• Cost efficient - team has obtained all necessary parts for the build process
• Consistent - with the simplicity of the design there is very little room for error, as long as positioning of the robot is correct
• Already built for drive train the team is currently using and things can easily be built around it
• Customized pieces (3D printed) not needed, but the basic design allows for customization if desired

Cons:

• Not very automated - puts more pressure on drivers to not only align the robot with the runs, but to use the front wheels to angle the robot forward enough in order for the hook to attach and pull the robot up
• Can only be utilized with the lower rungs
• Depending on the intake and other features on the robot, this design may not be feasible due to a lack of space

How it can be built:

1. Attach a U channel (192mm) positioned upwards
2. Add a servo to the top of the channel
3. Attach another U channel (288mm) to the axial
4. Attach a small U channel (this will act as the hook)

[Areya46]

INTAKE AND HANG IN ONE

Design and how it would work:

• One universal design that would be able to pick up blocks and hang on the rungs using the same attachment

Picking up the blocks:

1. Drivers would align the robot with the blocks
2. Drivers would select a button on the controller to pivot the U channel downwards
3. Drivers would select a button on the controller for the law to pinch inwards, picking up the block

Hang

1. Drivers position robot in front of accent zone
2. Drivers select a button on the controller for in order to raise the claw
3. Drivers would select a button on the controller for the law to pinch inwards, securing it around the rungs
4. Drivers would then select a button for the robot to pull itself off of the ground

Pros:

• Reduces weight of robot
• Reduces amount of parts we need to put on the robot
• Can pick up blocks even it they are angled on the floor

Cons:

• Would take longer to pick up blocks
• Hard to source parts for the claw - may need to be 3D printed, but that would raise the issue of it not ebing strong rnough to to support the weight of the robot
• Not very automated - puts more pressure on drivers to make sure robot is positioned correctly to pick up the blocks

How it can be built:

• Attach a U channel (192mm) positioned upwards
• Add a servo to the top of the channel
• Attach another U channel (288mm) to the axial
• Attach claw at the end (need to attach this to a motor/servo in order for the "pinching' to work)

Image of how it would look:

[Areya46]

CLIMBING SYSTEM

Youtube video: https://www.youtube.com/shorts/Lv63wRZh4mQ

Design and how it would work:

• Ratchet and pawl mechanism where once the robot is hooked onto a rung using sliders and a hook for some sort, the robot would lock into place wit the ratchet machoism to prevent slipping while other motors work on raising another claw to the rung above

Climb and Hanging

1. Robot is positioned at the bottom of the structure
2. Hook is attached to the lower run, the ratchet system kicks in
3. Sliders (which use separate motors) extend and grip onto other bar
4. The Ratchet system Stomps and comes back into play once robot has reached other rungs

Pros:

• System prevents slipping
• Climbs in two separate motions - we are guaranteed points once on the rungs, there will be no slipping (removes the possibility of the robot from falling once up as it did last year)
• Gives robot stability as it ascends the structure

Cons:

• Slower motion - not continuous
• Requires precision
• Complex and requires more parts, thus adding weight and size to the robot

Image of what it could look like