STONY POINT HS -- ROUND ROCK ISD

Design Problem Marble Sorter

Project 3.3.1 VEX and RobotC
Nolan Aguirre, Johnathan Forte
4/11/16

TABLE OF CONTENTS
Design Brief
Final Design Pictures
RobotC Code
Reflections
References
Appendices
Dispenser Brainstorming
Sorter Brainstorming
Bins Brainstorming
Design Modifications

DESIGN BRIEF
Client
Company:

National Recreation and Park Association (NRPA)

Target
Consumer:

Society

Designer(s):
Problem
Statement:

Design
Statement:
Problem
Statement:

Nolan Aguirre,
The National Recreation Park Association (NRPA)
has asked your team to develop a solution to a
growing problem in their parks. The association
has placed dumpsters for recyclable material
throughout the parks. They have a sorting facility;
however, they need a device that will sort the
recyclable material.
Design, model, and test a device that will separate
recyclable materials.

1. Separation process must be fully automated.

2. Must successfully separate commingled
recyclable materials into individual holding bins.
3. Recyclable materials include 3 different -in.
material spheres totaling 15. Examples could
include steel, aluminum, wood, opaque plastic,
and clear plastic.
4. Must be efficient2 minute max for completion
of sorting process.
5. Must not be larger than 24L x 12W x 18H
6. Must make efficient use of materials.

FINAL DESIGN PICTURES

ROBOTC CODE

REFLECTIONS
Overall we did fair in the construction of the robot. All parts are fully automated and do
not rely on each other. In most cases the sorting process works, however this is not every time.
When it does work it is able to handle 3 materials, one clear plastic, one cloudy plastic and one
wooden material. For all dry runs, the robot is able to loop 15 times in around a 90 seconds.
This time can be greatly improved, but it works within the constraints so it does not need to be
adjusted. Lastly the size and use of materials are low. The robot fits solely inside the base and
is under 18 in height. Due to the simple design it also uses very few materials, only 6 main
parts are present.
The main thing that we would do differently would have to be the marble dispenser. The
marble dispenser took the longest time and was the simplest of the 3 parts. We shouldve
invested more time in making a design sketch that would work instead of several that were iffy.
Along with this we shouldve been more open to using other groups ideas to improve our own.
This wouldve sped up the process greatly.
Secondly the sensor setup we have has
issues with the clear marbles and things behind them. To avoid this issues moving the marble
underneath the marble being read should work. If this was done more accurate values would
be recorded and the coding portion would be much easier. The last of the three parts, the
bins, worked the best for us. Only one issue was had and that was the range of motion for the
servo. This was solved by using a gear so in the end it wasnt to bad, but more consideration
was needed to see this issue before building and testing.
Lastly, it wouldve been a great
aid to us if we spent more time weighing the pros and cons of each marble type.
We very nearly met all requirements of the problem statement, the main issue was
consistency. With the marble sometimes falling into the wrong bin, and sometimes not landing
in a bin at all the robot has some bugs. Regardless of this it works for most marbles but just
isnt robust enough to function consistently.
If more time were allotted the main focus of it would be getting accurate sensor values.
This would include testing individual marbles to find the exact range of values one marble can
yield. The dispensing mechanism works very well and doesnt need to be improved. The bins
are also fairly successful in their jobs. If anything were to be done to the bins it would be
adjusting the values that they move to in the code, not actually altering the bin system.

REFERENCES
Marble Dispenser
https://www.youtube.com/watch?v=h8Lk_9E0EK8
https://www.youtube.com/watch?v=rpqIDKP5bBc
https://www.youtube.com/watch?v=1SrvhGxa1bk
https://www.youtube.com/watch?v=qW4UXTLPoko
http://welldonestuff.com/panama-canal/
Marble Sensor
https://www.youtube.com/watch?v=pbOEmqHfaqo
https://www.youtube.com/watch?v=qW4UXTLPoko
https://www.youtube.com/watch?v=rpqIDKP5bBc
https://www.youtube.com/watch?v=ey_-yzaIdLg
https://www.youtube.com/watch?v=bB3n3Zs259U

Marble Bins
https://www.youtube.com/watch?v=pbOEmqHfaqo
https://www.youtube.com/watch?v=bB3n3Zs259U
https://www.youtube.com/watch?v=R2NrEt-A0fc
https://www.youtube.com/watch?v=qW4UXTLPoko
https://www.youtube.com/watch?v=8q62osHoaLA

APPENDICES

DISPENSER BRAINSTORMING

SORTER BRAINSTORMING

BINS BRAINSTORMING

PARTS LIST
Amount

Name

Dimensio
ns (In)

C-Channel

1x2x1x35

C-Channel

1x2x25

Chassie Rail

2x1x16

Bar (Cut Short)

1x25

Drive Shaft

Plate

5x25

Vex FlashLight

3-Wire Servo
Motor

Gusset Angle

Vex LineFollower

30 Tooth
Sprocket

12 Tooth
Sprocket
Chain

DESIGN MODIFICATIONS