Problem
In the 2024 First Robotics Competition game, robots were required to launch 14" foam rings(called notes) into a rectangular goal 7' off the ground.
Goal
Foam Ring/Notes
Design Objectives/Requirements
These are the requirements that are set by me and the design team and of which the final design of the system must meet:
- Shooter must be able to launch notes >= 50ft/s
- Shooter must be able to score notes into the goal from >= 20ft away
- Shooter must be able to freely rotate to adjust launch angle
- This is necessary because the goal is at an incline, meaning that the further you shoot the note from, the small the goal opening will be. Thus, there is no one angle for all launch distances.
Initial Concepts & Prototyping
Going back to the design requirements, there is are two requirements that needs to be tested: launching the note from >= 20 ft away, specifically, different launch angles need to be tested, and different shooter wheel sizes and materials. The launch distance does not necessarily need to be tested as the necessary motor gear ratio to launch from far distance can easily be calculated in the final design.
Prototype V1
- Horizontal wheels
- adjustable compressions
- different bearing mounting plate to test different wheel sizes
What worked:
- Were able to shoot close to goal
What didn't work:
- Too big of a system so we decided not to pursue this concept any further
Prototype V2
- Vertical wheels
What worked:
- Were able to shoot close and far away from goal
- high launch speed
- can be compact in final design
What didn't work:
- note is not stable during launch path, the note needs more spin during launch
Prototype Conclusion
- Use vertical wheels in final design
- needs to add spin to note
Final Design
Shooter
Almost the same as the prototype but is better constructed.
Gearbox
- 192:1 gear ratio for better wrist rotation control