Ball Shooter II

The task was to fire a compress-able foam ball accurately from over 30 ft.

Here you can see the first design of the mech.

It was a quick 3D printed mech to see if the design was tenable and to test the motor gearing to see if we had enough power.

Solidified the design and machined side panels

More testing for tuning the shooter speeds, hood angles, vision, and vibration

Discovered issue causing ripped balls and added covers on side panels

Final Shooter Design

Three wheel setup for repeatability

Hood angle optimized at 24 for range/rpm range

Vision system mounted behind hood for visibility

Mounted on turret for added degree of adjustability and control

Added inertia disks to maintain speed

Dual NEO Drive

Climb Mechanism

Designed to lift the 150 pound robot by attaching to bar and engaging to 'pull up'

Two arms are deployed via a piston

Scissor arms are geared to each other to fold compactly

Deploys hook which is reeled in via a motor and pulley system

Intake II

3D printed custom mecanum wheels (cheaper, time-save)

Mecanum wheels selected for natural centering capability

Milled side panel to hold shafts and mounting points

Dual shaft intake rollers

Outer shaft: rapid capture

Inner shaft: rapid centering and control

Collapses into chassis via piston

Bevel-gear drive to integrate with other mechanisms

Brushless-Motor Chassis

Redesigned, modular chassis

Variable, accessible mounting for mechanisms

All wheel drive, four brushless motors (Falcon 500 Drive Train)

Modular wheel sizing from 4'' - 8''

Intake I

Prototype wooden structure for dimensions

Metal assembly

Testing