Blog 2015

Key Principles for the Robot


  • modular
  • low robot
  • bottom stacker, be able to stack at least 3 totes
  • task priorities: 1st- totes, 2nd- litter & bins, 3rd- placing litter in bins


  1. forklift
    • pulley
    • rack & pinion
  2. clamp using pneumatics
  3. 4WD: front & rear
  4. open front
  5. long & narrow
  6. center master < 6″



Blog is now by Sub-Teams

Sub-team Tasks:
1) Pulley System for Main Lift
2) Rack and Pinion for Main Lift
3) Rack and Pinion for Grip
4) Pneumatics for Grip
5) Claw/clamp for Grip
6) Plastic tines for lip like the video
7) Kit of parts frame
8) Base extensions

1/17 –
Parents field build.

1/5 –

Sub-team task list:

• How many CIM motors to lift 100 lb.
• 2 vs. 4 wheel drive or can we use 2 non-CIM for the drive train
• What is needed to make modular bases to plug in different
• Can the electrical system support 6 CIMS + X motors running  simultaneous?


1/4 –

First Prototype:

Current Designs:

Robot Design #4

Pictures of the day:

Videos of the day:

Human player pool noodle scoring:

Loading and lifting: (81 seconds in)

1/3 –



2015 Robot Design #4

IMG_20150104_121822661_HDRDesign B

Design A: Simple lift that can lift a rightsided crate onto a single rightsided crate. Arm would have to start at 9 inches and raise 12 inches.
Design B: Right arm can move left and right about 4 inches, this allows lifting recycle bin onto crate. Arm would have to start at 22 inches and raise 12 inches.
Design C: Allow arm to rotate 45 degrees in both directions. This allows easier ability to rotate crate.

Have simple is it build?
Design A is using all fixed objects, so should be able to build in a week.  Other designs could be created including other bases or arms that could be more complicated but because they will be compatible would not effect electrical, programming and drivers.

Have easy is it to use?
Currently just have up and down and normal drive.  So very easy.

Have easy is it to maintain?
The elevator would be activated to take off the top part.  4-8 screws would be used to remove the two main top pieces.  After this, other major attachments should be easy to get at.

Does it use proven designs?
Elevator has been proven to work on the FTC robots, but lifting 100 pounds would be a slightly new requirement that would need to be tested.  There are two elevators, would use two CRio motors per side and would be geared 10:1.

Prove that your design will work?
Need to do a weight test on the elevator.
There are currently three different designs doing with the arm, with two needing to be proven out.

Is your center of gravity near the middle of robot and near ground?
The center of gravity should be near the robot middle and would also start 8 or so inches off the ground.  Would need to check center of gravity with no weight and with 50 pounds of weight.

Critical Measurements:
Width of Forklift (Side of Base)
Dimensions of Mast (Currently 6 inches)
Dimensions of Electrical pieces (Currently 9 inches by width of forklift), most likely will require two layers

FTC – Crestwood – 2012-09-11


Main Issues Questions Max Points
Rings to pegs What type of robot movement is   needed? Speed, Force? How many motors are needed?
How do you align robot up with pegs?
Are there ways that the robot could be less procise?
Which spot has best value?
How to change levels of arm?
How to pick up ring from dispensor?
How to let go of ring?
Lift robot Assume that last years robot is   what you are trying to lift.
How would you build a robot to lift last years robot?
The goal is 24 inches high, start with 1 inches. Need to control center of Mass, most robots will be lopsided because of arm.
How to handle center of mass?
24 inches = 30 + 5×23 =   145
12 inches = 30 + 5×11 = 85
Multiplier How to determine heavier ring? 660*.2=132
Place ring on peg during autonomous How do you align robot up with pegs? 50
Blocking Is it worth blocking (Stopping in a position) to minimize scoring?