VEXPingPongShooter TheUnderdog AlexanderMartin,JulianHernandez,MekailNegash,AlejandroHernandez

Title:VEXTableTennisshooter.TheUnderdog Objective:Designandbuildaroboticdevicethatcanshootatabletennisballintothe designatedtarget.Itmustalsobeabletochoosedirectionatwhichitfiresat. EquipmentNeeded: 60toothgearX4 12toothgearX4 1ftAxelX2 ShaftCollarX12 4inchstandoffX6 15by30metalboardX1 5by15metalboardX4 LargeWheelsX6 2WireMotorX3 MotorControllerAdapterX3 6PackBattersX1 MicroControllerX1 PopRivetsX12 BearingFlatX8 screwX18 MotorScrewX6 KepNutX6 ChassisRailx4

Procedure: 1.Beginwithtwo5by15metalboards 2.Attach4fourinchStandoffstothecornerswithinchscrews,henceconnectingthe boards

3.Attachfourbearingflatstothebottommetalboardspecifiedbythepicture

4.Attachamotortotheinnerbearingflatsonthebottommetalpanelwithashaftcollar ontopwitha4inchaxle,witha60toothgear

5.Attachthe4inchaxletotheouterbearingflatonthebottommetalpanewiththe12 toothgearonthebottomandthe60toothgeardirectlyaboveit,asspecifiedbytheimage

6.Attachthisframetothemain15by30metalboard

7.Attachtwomotorsthruthebottom5by15metalboard. 8.Attachamotorthrewthecenterofthe15by30metalboardwhichspinsfourwheels foryrotation 9.NowattachtheMicroController,andoptionallyfororganization,tapethewiresdown

9.Younowhaveafunctioningpingpongshooter!

Advantages&Disadvantagesofthedesign AdvantageSimpletoimplementgearconfiguration AdvantageStableandconsistentresults AdvantageSimplerotationontheY DisadvantageDistanceoftheballisdependentontheRMPofthelaunchwheels,not onXrotationofthelauncher DisadvantageManualloadingofthepingpong Schedulewithmilestonesandcompletiondates Milestones Makegeardesignfunctional Havewheelsspinfastenoughforshooting Rotationontheyaxis Getconsistentaccuracyfrombot ExpectedCompletionDate:November7th Listofexpecteddifficulties RotationontheY,notsureifamotoronitsownisgoingtobepowerfulenoughto rotatetheentirerobot. AdjustingthemotorsRPMaccuratelyfromajoystick,humanerror. Gettingthewheelstospinfastenoughtolaunchtheball

Calculations RPMCalculation: BaseRPMofmotor=100 Ourfirstgearratiostartswith100RPM: 60to12simplifiedto5to1 Afterfirstgearratio,RPM=500 Oursecondgearratio500RPM: 60to12simplifiedto5to1 Afterthesecondgearratio,RPM=2500 TheUnderdoghasa2500RPMonbothwheelsthatshootthepingpongball SpeedCalculation: Thewheelshavea4inchdiameter,whichwecanusetoderivea12.56 circumference At2500RPM,thattranslatestoadistanceof31,400inchesperminute Thatsaspeedof29.73milesperhour

Results TheUnderdogwassuccessfulinitsattemptathittingthedescribedtarget,andwas abletoreceivefullcreditonthetargetportionofthetestinthreeofagiventenattempts.The robotsdirectioncouldbechangedbyrotationontheyaxis,andtheballsdistancewas determinedbyafactorofjoystickinputfromthecontroller.Therewasnoxaxisrotation,andif wewantourrobottohavelesshumanerror,andrelymoreonprecisetrajectorycalculationsit wouldbemorebeneficialtohavesomesortofmechanismthatallowedrotationonthexaxis. Duetocertaintimeconstraintswhichresultedofhavingtorestarttheprojectonmultiple occasions,weasagroupwerenotabletoimplementsuchmechanisms. Conclusion Weasagroupdidreachourgoals,wewereabletosomeextentcreatethepingpong shooterthatwehadplannedtocreatefromthestart.Althoughourdesigncompletelychanged aswecameoutofthisproject,wewereabletoimplementthatbasicfoundingprinciplethatwe haddiscussedatthestartoftheproject.SomethingIwouldliketodomoreinourfuturerobotics projectsisimplementautonomousfunctionsforourrobots.Ibelievethatourgroupwouldbenefit greatlyfromthisbecauseourgroupisntcomprisedofmechanicalengineeringstudents,andit maylevelouttheplayingfieldabit.Duringthisprojectwevelearnedalotaboutassembling robotsusingtheVEXkits,andweveencounteredmaybeproblemsthatwellknowhowto combatinthefuture.