FRC 2023 Offseason Robot - Team 3255 The SuperNURDs

grabcad

Our 2023 Offseason Robot “Rhino" was created to play the FRC 2023 Game, “Charged Up". Rhino was designed to pick up and place traffic cones and inflatable cubes at various heights and depths. Doc Ock was also designed to drive autonomously at the beginning of a match, and balance on a tipping ramp at the very end of a match. Each match lasts only 2 minutes and 30 seconds.ElevatorGoal:– Fast vertical movement- Lightweight and durable- Maintains low center of gravityMirrored Gearbox:- 5:1 Gear Ratio- Powered by two Falcon 500s- Lifting speed of less than 1 second to full extension- One WCP 1/8” UHMWPE String driving carriage- Ratchet tightening system for string- Two 25H chains driving second stage- Programmed to never skip chains via current limiting- Absolute Encoders- Prevents robot from self-damage & software useStructure: - 2”x1” aluminum versa tubing 1/16” wall- Custom machined bearing guide blocks for each stage- 33” collapsed height, 46” Full extension height- Supported by 3/16” lightweight aluminum platesWristGoal:- Allow for angled movement of intake- Lightweight design- Increase rotational speedGearbox: - 40:1 Gear Ratio- Powered by Falcon 500- 25H Chain driving gearbox- Bearing tensioner for chain- Programmed to never skip chains via current limiting- Absolute Encoder- Prevents robot from self-collisions & software useStructure:- Two 3/16” aluminum plates- Held together via spacers and bolts- Standoff plate for Encoder- Maintain 1:1 ratioIntakeGoal:- Quickly grab game pieces- Any orientation/position- Both cones & cubes- Durable and lightweight- Withstand hits from other robots- Less strain on wristRollers:- 3” OD Polycarbonate round tube- Wrapped with “Cat Tongue Grip” tape- Custom 3D printed pulley- 1.25” OD aluminum round tube- Covered in 3” WCP flex wheels with 7/8” spacing- Custom 3D printed pulley Gearbox:- 6:1 Gear ratio- Powered by Falcon 500- Driven by 24T HTD Pulleys & 55T HTD BeltsStructure:- Polycarbonate Plates- Held together via 2”x1” aluminum versa tube 1/8” thick, 18” long- Flexes allowing for heavy impact- Reinforced by 1/16” Aluminum platesDrivetrainGoal:- Allow for fast movement & rotation- Maneuverability to access all stations & scoring zones- Easily go over charge stationWheels: - Swerve Drive Specialties MK4I Modules with L3 gearing- 4” Colson wheels- Desirable traction- Increased durabilityBellypan:- 1/4” Polycarbonate sheet- Protect