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Harmeet Matharu January 24, 2014 Design Report for Aerial Assist 2014 Purpose: well the purpose

of the FRC game Aerial Assist is to build a robot which can catch, shoot and/or pass a 24 inch ball with a 2 other ally robots in order to score more points than the other team. I was assigned to make a design proposal on a mechanism that would be able to shoot the 24 inch ball a various range of heights quickly and effectively. My design, consists of a grabber or grappling claw that has a piston mechanism which punch the ball allowing it to travel various heights. The arm of the grabber would be able to rotate to various angels using a servo motor allowing different angles of shots. Robot requirements: Restrictions- some weight and size restrictions One robot, must have all mechanisms inside bumper zone before game begins Frame perimeter may not exceed 112 inches, may not extend more than 20 inches from frame, height must be under 60 inches, extension over 60 inches may not exceed 6 inch diameter, weight less than 120lb without battery and bumper Balls must be able to be removed from robot while powered off No special traction devices like sandpaper, metal, or hard plastic studs

Subsystem design: Theory of operation: well , my design would be able to grip the ball and shoot in various heights with a piston loaded puncher, for the gripper an arm 2ft and 6 inches with two semicircle shaped grippers with a diameter of 24 and when closed is 20 inches, this will allow the gripper to grip the ball not in the middle however closer to the bottom, this will all be encoded into the sensors, when it senses a ball the gripper will close when the ball crosses a sensor beam, with rubberized tips the ball would not come out until punched by a metal plate pushed by a 20lb piston which can be loaded and unloaded by pneumatics.so when the ball has been gripped, the gripper will close then when an angle of shot is acquired, the claw opens and the pneumatic pressure would release the piston, applying 20lb of force to the ball shooting it to the target. Bill of material: well, considering we had none materials from previous years. The bill of materials is as follows. Excluding parts acquired in kit of parts (black tote) Pneumatic Base Kit (am-2000) -$267.00 040.5-RP Bimba Air Cylinder, piston extend w/ nut (am-0591)-$34.00 Hi-Tec Servo, model HS-75BB (am-2584) x2 - $60 for two Lexan plastic .093 Inch x 36 Inch x 72 Inch- $100 Generic hardware, nuts,bolts,screws - $20.00 Ultrasonic proximity sensor, EZ, MB1013, MaxBotix (am-2434)-$35.00

Test procedure proposal: place robot in open area Pre-programming: Autonomous mode: set sensors to close gripper when ball is (x) distance away from sensor, set grippers to open when servo motor stops moving then activate piston (x) seconds after gripper opening is activated

Step: 1. 2. 3. 4. 5. turn robot on start autonomous mode roll balls toward gripper allow robot to sense ball using programmed sensors that close gripper angle shot and release gripper and activate piston to punch ball

Normal driving: pre-program: set sensors to close gripper when ball is (x) distance away from sensor, set servo motor to respond to analog/ joystick controlled angle then lock at angle when button is pushed, set grippers to open when button is pressed activate piston when button is pressed. Normal drive: Step: 1. 2. 3. 4. 5. 6. turn robot on start normal mode roll balls toward gripper allow robot to sense ball using programmed sensors that close gripper then driver must use joystick to angle servo, and open gripper then shoot ball with press of button

Conclusion: Well this design may not be the best, however it easy to make and allows driver to use piston to punch ball instead of relying on many motors, this design will allow the driver to be accurate with their shot and since there will be an consistent amount of force, we will know how high and far the ball will travel. Future ideas and modifications would be giving the shooter well gripper more power, more angle flexibility and programming components to work with precision and efficiency.