Mechanical Design
Mechanical Designs of the robots used in Robocup Small Size League share same basic structure. The design of our robots was inspired from Skuba, which have a modular design, making the robot easy to debug in case of any problem. CAD designs were first analyzed thoroughly. Pro-E 3d-design was made from the CAD files which were used understand successful assembly. Dimensional limitations as per Robocup SSL were followed strictly to keep robot within 180 mm diameter and 150 mm height.
All parts were fabricated indigenously under supervision of our hardware team. We plan to make further modifications and improvements in the hardware in future for better performance, such as selection of appropriate materials for gears, using appropriate wheel diameter and better motors etc.
All parts were fabricated indigenously under supervision of our hardware team. We plan to make further modifications and improvements in the hardware in future for better performance, such as selection of appropriate materials for gears, using appropriate wheel diameter and better motors etc.
Ball Shooting Mechanism
For our kicking system, we are using solenoid based kicking carried out using a custom built solenoid. Two 2200 uF capacitors are charged to 200V by a boost converter circuit. Our robots have two kicking mechanisms, namely flat kick and the chip kick.The solenoids for flat kicker and chip kicker were first modelled in FEMM(Finite Element Method Magnetics) software to determine the best possible choice of wires for making solenoids.The solenoid used for flat kicking has 700 turns of AWG 25 wire, while the chip kicker has 350 turns of AWG 25 wire. Our kicking system is capable of delivering ball speeds as high as 10m/s, which is then limited to 8m/s in software as per the F180 rules. The kicking speeds are controlled by changing the on-time of power IGBTs in the software.