Intake
- Polycarb Sides
- 2 Falcon500 motors
- 4 Rollers
- Star wheels and compliant wheels
- HTD timing belt transmission system for rollers
- Sprocket and chain transmission for pivoting
Indexer
- 2 PolyBelt conveyors transport game pieces
- 8 Vertical compliant rollers to center cones and cubes
- Reorienting bar for backward cones
- 5 NEO 550 motors
- Color sensor determines game piece type
- Break beam sensors determine cone orientation
Arm
- Elevator on pivot design
- Rotation:
- Dead-axle
- Two Falcon 500’s, each into a 1:28 VersaPlanetary, then into a sprocket reduction, then bolted to the arm
- Rigging:
- Continuously rigged
- Extension: a NEO into a sprocket reduction powers a spool, retracting and extending Dyneema
- Construction:
- 1/16” Aluminum box tube
- Bearing blocks are integrated with gussets, saving weight and space
- Strategy:
- Scores all levels
- Stows vertically, scores are ~40* angle
Outtake
- 4 Polycarb gripper plates
- Modified pool noodles for maximum friction
- 5” Stroke length piston for gripper actuation
- Bearing plates allow box tube carriage to glide along Arm
- Tensioner spring keeps carriage level
Drivetrain
- Swerve drive moves in any direction
- 4 Modified SDS MK4i swerve modules
- Falcon500 motors for driving
- NEO motors for steering
- 1/16” Thick box tube frame
- 29” by 29” square layout