Section 6

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Bellevue College *

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211

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Mechanical Engineering

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Jan 9, 2024

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docx

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Section 6. Electronics, Motors, Sensors & Sensors 6.1 Electronic Modules Overview: We use two REV Expansion Hubs to conserve space, which is crucial for us this year. We also use the REV Expansion Hubs instead of the Modern Robotics modules to prevent connection issues. So far, the REV Expansion Hubs have prevented us from connection issues and problems from Modern Robotics modules like space, as they take up lots of space. We also used the REV Servo Power Module to give the servos on our robot more power, 6 volts compared to 5 volts without the Module. With the Relic extension having to extend far, the servos on the relic grabber and arm will need more power to reach that far, from a couple of drive practices, we noticed without the Power Module, the servos on the relic grabber and arm did not have the strength to move up and down. Each REV Expansion Hub can only have space for 4 motors and 6 servos, and we have 6 motors and 10 servos. Figure 6.1.1 REV Expansion Hub Figure 6.1.2 REV Servo Power Module Figure 6.1.3 Electronic Module Diagram This is how we wired all the motors and servos to each Expansion Hub.

Figure 6.1.4 REV Expansion Hubs and Servo Power Module (Yellow) REV Expansion Hub mounted on batterie holder and below glyph motor. (Red) Servo Power Module mounted on base channel of robot

6.2 Summary of Motors and Servos Overview: On our robot, we use a total of 6 motors and 10 servos. Motors: 4 NeveRest 40 motors are used to control the mecanum wheels, one NeveRest 40 motor for the glyph lift and one NeveRest 20 Orbital for the relic extension, which was added after the first league event. Encoders are used on all motors used for the drivetrain and the motor for the glyph lift to control the amount of rotations and distance traveled. Servos: 5 servos are used for the glyph grabber (four individual grabbers and one grabber as a top grabber to secure glyphs), 2 servos are used to control the relic grabber (one to grab the relic and one to control the relic arm and elbow to go over the field perimeter) and one servo as a stopper to keep the relic arm and elbow in the 18-inch cube limits, and releases once it is times to grab the relic. 2 servos are used for the jewel pusher (one on the bottom to move jewel pusher arm down to correct position and one servo at the jewel pusher elbow to push the correct jewel.) All our servos are angular and set to specific positions. Figure 6.2.1 NeveRest Motor Figure 6.2.2 REV Smart Servo Figure 6.2.3 Motors on the Robot Figure 6.2.3.1 Glyph Lift and Relic Extension Motors Figure 6.2.3.2 Drivetrain Motors (Red) Glyph lift motor with 3D printed spool (Yellow) Relic extension motor with 3D printed spool. Bottom view of the motors and mecanum wheels. Blue cable wrap to clean up wiring to modules.

Figure 6.2.3.3 Close-up of Motor and Sprocket Driving Mecanum Wheels Motor is mounted above wheels on the support channels to conserve space. Sprocket and chains are used to drive the mecanum wheels, 32:24 gear ratio. Figure 6.2.4 Servos on the Robot Figure 6.2.4.1 Servos on Glyph Grabber Figure 6.2.4.2 Servos on Relic Grabber/Arm (Red) Top grabber servo to secure top glyph and glyph grabber top individual servo. (Yellow) Servo to control relic arm above field perimeter. (Green) Relic arm stopper (Orange) Relic grabber servo

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