ItapĂŞRobota Robot Design Executive Summary (RDES)
ItapêRobota Brazil We are the SESI ItapêRobota’s team, number 4041, from Brazil. We worked hard and also, had a lot of fun to get here. It’s an honor and a dream coming true to participate of this Open European Championship. We like too much making noise and music and these bring us happy and this way, we are always animated. Our highlights characteristics are animation, energy and the desire to accomplish our goals. Get to know better our great spirited team that loves what do and follows the FIRST® values.
WHERE TO GO ??? SERVI CE AN IMALS
QUILTING
G N I K R O W D WOO
E V O ST
OB WLING MED ICIN E
HOW TO START ???
B O O T R
F AC TS
S
N U F
T E A GY R T
I S G E N D
PR
OCESS
IN N O V
ME
C
I N C A AL H
G O RA R P
ION T A
M
ET
B RA Z I
L
D G I S N E
G N I M
ME
Robot Facts
We’ve used three light sensors strategically positioned, enabling it follows, align or stop on black or green lines in different places on mat and one color sensor to find the green medicine.
There are two kind s of drivetrain s in the robot: one of them is the movement through the motors B and C to the rear wheels enabling the rear drive, while the other is the movement through the motor A to attachments with a reduction on attachment motor with gears, making it has more power t o support the attachments.
Besides this, our robot has 13 attachments and approximately, XXX pieces and all robot programming, is carried out by LEGO Mindstorms NXT v2.0.f4 programming.
To execute all missions, the NXT carries just five programs to each group of missions: 1st Mission – Dog Size: 11, 4 KB; 2nd Mission – Bowling Size: 28, 9 KB; 3rd Mission – Plant Size: 15, 0 KB; 4th Mission – Ball Size: 7, 2 KB; 5th Mission – Platform Size: 7, 0 KB.
FUN The funniest part of robot Project can be considered the moment that the drivers put robot on practice, because beyond we stay in expectation of a possible strike , each of us give an opinion about how many pins will be knocked and we pay attention when the ball will be ejected from the Ball Game.
However, the most challenging parts are the construction and programming that we have to analyze strategies and mechanisms that execute something safe and reliable.
The robot is called Robotinha, whose name was chose by the constructor when playing with our team’s name ItapeRobota making the robot become called by the diminutive of Robota.
Sometimes we think that Robotinha has feelings, because when someone is upset with him, he doesn’t execute what used to do, but when someone encourages him, he does all the things right.
STRATEGY
After studying the best missions group that could spend less time through several kinds of paths, we defined what ways the robot would perform on mat and then, we started the build of attachments abl e to determined tasks. Thus , we tried balance two aspects when performing a mission due the time and often that it happens: speed and accuracy, because with a high speed, the accuracy will be smaller and vice -versa. Therefore, we keep a good frequency of success when executing missions.
Our fav orite m ission, no doubt , is the Bowling, because we make six missions with just one program and because we use light and color sensors, several ki nds of resources like to find or to follow a line and align to wall and a different mechanism: the pneumatic that lifts the lever of Strength Exercise.
DESIGN PROCESS
At beginning , we defined what wheel the robot could have through its size balancing accuracy with speed. Therefore, we chose a wheel that has 4, 75 cm of radius and regulating the power’ motors , the robot becomes fast and accurate bringing us, at moments like base returning, speed and time. Soon, we defined the motors position to start build the chassis, because depending on the position of them, they could have more entrances to beams and connectors enabling strong rigidity in base and soon, we calculated the distance between rear wheels and we’ve defined as a NXT in horizontal position to give better accuracy on curves.
After this, we’ve started the build of robot’s coverage prioritizing the rectangular shape to align on table walls and a long armor to protect light sensors from ambient luminosity. Then, we built the structure to fix the attachment’s motor and in it, we made a reduction with gears to have higher torque (angular power of motor) and we put the light sensors and the NXT in a position to facilitate view and program changing and also assist in practice of battery changing.
Since the first stage to now, we’ve already participated of three selective tournaments and our robot’ attachments (mainly the Transitions’ attachment) and strategies have changed. A t the first tournament, we don´t used to do the Medicine and Animals Service’ missions and the Transitions’ attachment was a green ramp.
At the next tournament, we started to do the Animals Service mission, but we didn’t do the Medicine mission and we did n’t put the chair under table. Besides this, the Transitions’ attachment was a structure with white wheels that elevated the robot to drive up the ramp. After this tournament, we did all missions (but we just spin the Cardiovascular Exercise roulette one time, like in the others tournaments) and created an enormous structure to do the Video Call (TV), Quilting and Animals Service missions at one time and another to do the Ball Game at the finally seconds and the Transitions’ attachment becomes a inclined green platform with robot on top. And now, we a lso do these missions, but the Strength Exercise and Transitions’ attachments have changed. The first one, becomes a structure made with pneumatic system and the other, a straight red and black platform.
All the members’ team collaborated to the robot’s o r attachment’s build through ideas projected as drawings or writings or trying build on practice with imagination.
MECHANICAL DESIGN
The robot has a very well fixed and rigid chassis allowing to support the rest of the structure. Besides this, the robot armor blocks up some movements that can shake the structure due the cross shape. Beams protect the robot and let it more robust. With this, we planned the robot to be symmetrical ( vertically, both sides have the same weight to don’t have unbalance and future problems with attachments weight ), compact, stable and robust.
To have a better times economy in attachments changing, we’ve made that the fixing structure of them become practice using then just the gravity power through the attachments weight with crossed axles, but not fixed, to the beams perforation to the moment to put or remove, it slides to enter or go out with a better efficiency.
The rear drive motors are linked directly to wheels and t he axis of them, are supported by the robot’s coverage to don’t bend and thus, modifying robot’s path and locomotion.
We’ve used different kind of attachments 1st Mission/Name: Dog/Missions: Video Call (TV), Quilting and Ser vice Animals./Score: 130 points/Attachments: We built an enormous structure to execute all these missions at one time in approximately 10 seconds with some mechanisms like elastic string, lever (inverse power – power exercised to down to another part of th e mechanism gets up) and properly activity, in other words, it’s not necessary motorization.
and mechanisms to each mission: 2nd Mission/Name: Bowling/Missions: Strength Exercise, Bowling, Flexibility, Video Call (Computer), Cardiovascular Exercise (3 -1) and Medicine./Score: 175 points/ Attachments: We use four independent attachments to execute six missions i n approximately one minute. Therefore, there are several kind of attachments design: one of them contains pneumatic, others contains elastic string mechanism and multifunctions.
3rd Mission/Name: Plant/Missions: Gardening, Stove, Similarity Recognition and Cooperation and Wood Working (Take the chair)./Score: 110 points/Attachments: It’s not a coincidence that the group of these attachments is called by Humble. The design is simple: motorized mechanisms and a device that is ejected during the execution.
th
mission 4
4th Mission/Name: Ball/Missions: Take a ramp with a little car to active the Ball Game (Future Effects Of Our Current Decisions)./Attachments: The Mega Ramp is simply a th ramp that carries a car that will be released on 5 Mission through an inverse power trig ger, ejecting a ball from the rack of the Ball Game. The robot execute this mission in approximately 15 seconds.
th
mission 5
5th Mission/Name: Platform/Missions: Active the device to do the Ball Game (Future Effects Of Our Current Decisions), Transitions and Wood Work ing (Let the chair under table)./Score: 150 points/Attachments: The kind of mechanism utilized was Main on Top, in other words, the robot stay on this attachment driving to the opposite direction that the attachment moves like two engaged gears. Beside thi s, we’ve used an independent attachment to release the trigger of the mission before. All this mission has, approximately, 15 seconds to finish.
PROGRAMMING Therefore, to have precision, during the programing execution, the robot align to wall or through light sensors that captures light intensity on mat lines making the robot stop or follow it.
We use the My Blocks (programming blocks compacted being variable or constant) constituting all mission programs that the robot execute.
To a better browsing and identifying through the programming area, we’ve used legends to say what is happening at the moment to facil itate searching and correcting of error and this way, increasing the productivity.
INOVATION We like to much and we are proud when the car from Mega Ramp is release d on miss ion’s following, because beyond bring us a lot of points, is so excinting see Robotinha on platform with our ball in the center position of the rack from Ball Game finishing the robot game with golden key.
SESI
BRAZIL 1
We are a team
4
We honor the spirit of friendly competition
7
We display Gracious Professionalism and Coopertition in everything we do
2 We do the work to find solutions with guidance our coaches and mentors
5 What we discover is more important than we win
3
We know our coaches and mentors don´t have all the answers; we learn together
6
We share our experiences with others
8 We have FUN!