1 of 12

TEAM 17

GANK

Grace Xiao, Annie Yang,

Nina Sediki, Kelvin Kau

Grace Xiao

2 of 12

Introducing Our Robot:

What can it do?

EVERYTHING.

Kelvin Kau

4 Main Subassemblies

DRIVETRAIN
BOX
ARM
SWATTER

Rack and Pinion Arm

Simple Gear Train Swatter

Gear Actuated Trapdoor

Friction Drivetrain

3 of 12

How the Robot Collects Resources!

Kelvin Kau

Meteor Collection

Asteroid/Comet Collection

BOX .

ARM .

-Collect meteors with Swatter into box

-Collect Asteroids and Comets with Arm into Box

4 of 12

How the Robot Scores!

Kelvin Kau

Lowering the Event Horizon

Depositing Resources

SWATTER .

Trapdoor .

-Lowers seesaw with Swatter

-Deposits resources from box with Trapdoor

5 of 12

Drivetrain Moves Robot

Box Stores Everything

Independent motors: reach any position

Acrylic -> 3D print (slippage)

2 wheels w/ friction drive

Flat -> bent trapdoor (max points)

Front side removed, objects stays in w/ tilted base

Rotating base

Grace Xiao

Our drivetrain consist of 2 wheels with friction drive, which was really tricky to design and build because the rubber bands tend to slip off and break very easily. Initially we had acrylic wheels and tried to glue the rubber bands on, but we found that any amount of unevenness in the bands will cause failure. Eventually we turned to 3D printed wheels with slight grooves where the rubber bands can rest. Our friction drive with two separate motor controls allows the robot to reach any position.

Attached to the top of the drivetrain is the box, which is powered by a singular motor that rotates the base. Initially we had a flat base, but after testing it was found that majority of the bouncy balls would fall outside of the cup, so we ended up bending the base to help direct the balls into the cup. We also removed the front side to simplify the design and ensure the objects stay in with a tilted base.

6 of 12

Arm Grabs Comets & Asteroids

Swatter Swats Down Event Horizon

Connected in parallel

Replaced elevator design -> simpler and more effective

Gradual bent for strength

Rack & Pinion

Thick acrylic -> adjust clearance in tunnel

Acrylic front -> metal w/ hook

Grace Xiao

On one side of the box is the extension arm which employs a rack and pinion system to move linearly. An important modification of the arm is replacing the acrylic front piece with a curved metal piece. The curved hook structure at the end helps us get the sacks and the eggs in hard to reach places. You may also notice that arm is hollowed out; this is to reduce the mass so that at maximum extension there’s less torque and less chance of failure. The thicker acrylic is used for structural integrity, and the clearance in the tunnel must be adjusted so that the arm moves smoothly with minimal wobble.

Connected in parallel with the arm is the swatter which tilts the asteroid holder and the event horizon. In our very first design, we had an elevator system that would move the arm and box up and down, but we soon realized that would be incredibly complex with high risk of failure. Thus the swatter replaced our initial design, and it’s much simpler and effective. The front piece is made of sheet metal, and we changed the 90 degree bent to a gradual bent so that the piece won’t snap.

7 of 12

Brainstorming and Creative Sparks

Crucial to Design Concept

Encourages Creativity:

Explored multiple ideas → innovative

Risk Mitigation:

Low risk → early identification of problems

Problem Solving :

Able to identify unobvious problems and solutions

Nina Sediki

8 of 12

Box Holding and Dropping Components

Annie Yang

Theoretically, the motor can hold more weight than the total amount of meteors and planets in our competition

Assume no friction

9 of 12

Box Holding and Dropping Components

Annie Yang

10 of 12

Testing Theoretical Values in Real Conditions

Theoretical: 1.755 kg

700g

Actual maximum weight held: 0.7 kg

Motor efficiency/condition
Load distribution
Friction

Needed: 0.48 kg

Nina Sediki

11 of 12

Max Points Scored

Robot Scoring Points!

170

2 comets, 1 asteroid, bonus 20 pts

Nina Sediki

Video link: https://youtu.be/OZC4lWltGNY

2X speed

12 of 12

TEAM

GANK

Thank You!

Limitations, Future Changes, and Technical Lessons

(Precision, Trapdoor, Wiring)

Nina Sediki