Our final machine consisted of bot that was about 12" wide, 15" long, and 10" high. The bot was able to drive forward, backwards, left, and right and included a cage that was able to lift up and down to capture balls. The bot was able to drive with the help of a double gearbox and differential. We chose a 48-24 gear combination in our differential. The motor powered the back axles. The cage wall was lifted and lowered with the use of a winch and pulley. Pivot arms were connected to a front cage to allow the up and down and movement. The wall itself was connected to a string which was strung through a pulley tower and then tied to a winch. The winch was coupled to and powered by a planetary gearbox. Our design was able to move and push balls due to the roller concept we implemented. A threaded rod was connected along the bottom, inside of the cage walls. This allowed the balls to roll without trouble.
The bot was made from mostly aluminum, but also included pieces such as the clear plastic plate, plastic wheels, and connecting parts such as nuts and bolts. It was formed from processes such as milling and lathing, and also from processes from the drill press, water jet, and laser cutter. We also hand tapped the holes in the pivot arms, pulley tower, and stopper blocks.
The final machine worked to our design intent, and was able to score during the competition.
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