FIRST Robots: Aim High

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REALIZING

HUMANS

CAN’T DO

IT ALL

Getting a batch of balls into the lower goals proved a bit

harder than one might imagine. Given that the corner goals

were 54 feet (16.5 m) away from the human operators, 6 1/2

inches (16.5 cm) above the floor, and at the end of a 24-inch

(61 cm) -long, 15-degree slope, the target was relatively

small. The five other robots and stray balls on the field further

complicated the problem of quickly scoring in the lower goal.

Team

225 realized that given all of the field obstacles, an

integrated system of sensors and control was the only reliable

method to accurately and consistently score balls in the lower

goal. According to philosopher John Dewey, “a problem

well-defined is a problem half solved,” so in this case Team

225, from York, Pennsylvania, was halfway done with its

robot design.

The process began with a brainstorming session to identify

machine attributes and functions. The resulting list was

reviewed and prioritized to specify desirable robot compo-

nents such as a four-wheel drive system, a 16-ball capacity

hopper, and control system needs. The team decided the

robot’s primary function was to score points in the lower goal.

To support that function, the robot needed an efficient ball

pick up, storage, and delivery system.

A conceptual sketch of the machine was created based on

the team’s list of desirable features. These concepts were

refined in drawings produced in the team’s CAD lab. The

machine’s parts were then fabricated from the drawings.

Then, the parts were assembled and tested, with a monitoring

and control system created to transform the independent

systems into a robot.

SENSORS

CONTROL

THE SHOW

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The first sketch is an exciting development in

the life of a robot. Such a sketch usually follows

a discussion of robot criteria and constraints,

and the determination of robot functions.

Progressing from a quick hand sketch to

detailed computer models refines and aligns the

robot design. The computer models add defini-

tion and force-size constraints and system inte-

gration concerns to be honored.

Once a plan is clear, parts can be manufac-

tured. Machines ranging from hand drills to com-

puter driven mills are used to make robot parts.

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Computer models allow the design to be

developed as a series of components that

are virtually integrated. Here, the design begins

with the robot base and a superstructure is

added. Conveyor belts are added to the

superstructure to complete the design.

Models of the drive system facilitate integra-

tion of the motors and transmission with the

wheels. An accurate computer model specifies

the chain path between the components.

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Innovation in Control Award

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Even the electrical distribution system is

modeled to ensure the arrangement is compati-

ble with the rest of the robot. The layout plan is

an installation template and can be used to

plan wire paths between the fuse panel and

individual motors.

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In addition to serving as a planning tool for

layout, computer models also yield construction

plans that are necessary to fabricate parts.

Team 225’s robot base and drive system is

constructed from material supplied in the Kit of

Parts. The components are designed for FIRST

teams and can be assembled using hand tools.

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