Coaxial Swerve

Power Play Early Season Prototypes

Valor Cad Challenge Robot

LogiCoyote Cad Challenge Robot

*Renders coming soon

Dual-Differential Gearbox

*Renders coming soon

Custom Belted Differtial Swerve Drive Chassis

*V2 Almost done coming soon

2021-2021 Freight Frenzy Robot

Full Robot

Belt-driven Deadaxle Pocketed Mecanum Chassis

My custom made belt driven chassis was specifically designed to fit my desired size constraint of 13 inches x 18 inches. I needed the width of my chassis to be 13 inches or under to be able to pass through the gap to the warehouse and the shared hub since I was using odometry and did not plan on going over the barrier. I was able to get my chassis down to 11.5 inches x 17 inches. My drivetrain consists of 4, 435 rpm motors belted at a 1:1 ratio. For my wheels I use GoBilda mecanum wheels edited with an edited casing to house bearings for my 12mm dead axle configuration. Holding my chassis together are 3, 6 hole gobilda U-channels and 4 manually pocketed, laser-cut plates cut out of ⅛ in 6061 aluminum. Using this high grade aluminum protects us from defense and collisions during autonomous driving.

Dead Wheel Odometry + Roadrunner

This year I used the “Roadrunner library” that uses open odometry wheels for localization information and provides API for efficient path following. I used this automation in both Autonomous and Tele-op mode (For aligning to a certain point of interest). I designed my own custom pods(left) but ended up using Open-Odometry(right).

Sensor/Hub Placement

For my hub placement, I ran into many issues since my robot was so densely packed with attachments: chassis motors on the bottom, slides inside the sides, intake up in the front, box in the back, and turret arm and duck carousel attachment on top. I finally found a place for it inside my robot on the sides of the intake. This is the perfect spot since the plates of the intake cover the hub wires and the ports are easily accessible down from underneath the robot. In terms of sensors, I have 8 distance sensors (only 6 shown in cad), 4 in the front, 2 in the back, and 1 on each side. I held the distance sensors with a combination of standoffs and 3d-printed holders with heat set inserts.

Custom Belted Linear Slides with Angle Adjustment

I created custom belted linear slides to help solve my issue of fitting 1 pair of 4 lr 300mm slides on an 11.5 inch robot. Using belts helped us fit the slides above my drive wheels, saving a lot of space inside the robot for the intake and the electronics. My slides consist of 2 parts: one gt2 belt wrapping around the individual pulleys connected to a 3d printed belt holder used for the motion of the slides, and one 5mm htd belt responsible for powering the slides. The 2 htd belts, one on both sides, both are connected to an axle that feeds through the robot. This axle is powered by 2, 312 rpm motors on bevel gears at a 1:1 ratio. All of my power transferring is done through the axis of rotation allowing us to tilt the angle of the slides upto 40 degrees using 2 linear servos and custom rails cut out into my drivetrain plates.

Custom Belted Intake Assembly using OpTake 

My intake this year consists of a system of 2 rows connected by 2 belts. My rows are made up of spacers, and an open-source 3d printed piece called Optake allows us to easily attach tubing to the axle. The main intake system is a sub-assembly that is held together with 2 custom-made aluminum plates which hold the module rigid. These plates also act as wire management, separating my hubs from the assembly, and also keep the intake at 82.55mm at all times, only allowing us to collect one element at a time. These rows spin at 435 rpm allowing us to collect anything from balls, cubes, and even ducks.

4-axis Turret Arm for Capstone

Dual Duck Carousel Attachment with Speed Servos

Passthrough Box/Dropping Mechanism

My box to drop was carefully thought out and is fully 3d-printed. It has a small ridge to prevent game elements from going out after going in, it has a servo at the back to allow game elements to fall out on user command, and it fits perfectly flush between the 2 intake plates. I drop game elements by pulling the slides up, turning the 2 servos connected to the box, and opening the servo at the back of the box. At the back of the robot I also have 2 servos I use when I want to pass elements directly through the robot into the shared hub.

Engineering Drawings

2020-2021 Ultimate Goal Robot

Custom Pocketed Deadaxle Mecanum Chassis

First-Gen Aluminum Custom Odometry Pods

First Gen Aluminum pods. They are kind of wide but that can be fixed next gen. The reason for creating these was to try incorporating the better quality nexus omni wheels into the design hopefully giving us better accuracy.

2019-2020 Skystone Cad Designs