diff --git a/docs/_assets/images/IR_sensors.png b/docs/_assets/images/IR_sensors.png new file mode 100644 index 00000000..cf7119d0 Binary files /dev/null and b/docs/_assets/images/IR_sensors.png differ diff --git a/docs/_assets/images/chassis_rotation.png b/docs/_assets/images/chassis_rotation.png new file mode 100644 index 00000000..5a4bc34b Binary files /dev/null and b/docs/_assets/images/chassis_rotation.png differ diff --git a/docs/_assets/images/line_and_color.png b/docs/_assets/images/line_and_color.png new file mode 100644 index 00000000..d1cd342a Binary files /dev/null and b/docs/_assets/images/line_and_color.png differ diff --git a/docs/_assets/images/wheel_placement.png b/docs/_assets/images/wheel_placement.png new file mode 100644 index 00000000..a852c2ab Binary files /dev/null and b/docs/_assets/images/wheel_placement.png differ diff --git a/docs/_includes/head.html b/docs/_includes/head.html deleted file mode 100644 index 67b6a817..00000000 --- a/docs/_includes/head.html +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - {{ page.title | default: site.title }} - - - {% if site.color_scheme == 'custom-light' %} - - {% else %} - - - {% endif %} - - diff --git a/docs/_sections/_guide-primaries/designing-a-robot/3d-modeling.md b/docs/_sections/_guide-primaries/designing-a-robot/3d-modeling.md index 377f5b41..7396d551 100644 --- a/docs/_sections/_guide-primaries/designing-a-robot/3d-modeling.md +++ b/docs/_sections/_guide-primaries/designing-a-robot/3d-modeling.md @@ -4,4 +4,38 @@ title: 3D Modeling nav_include: true parent: Designing a Robot nav_order: 3 ---- \ No newline at end of file +--- +# 3D Modeling +### Solidworks Tutorial 1.1 - Outline & Interface + +In this tutorial, you will be learning about how to navigate the Solidworks interface while also getting first hand exposure to many of its features! + + + +### Solidworks Tutorial 1.2 - Sketching & Smart Dimensioning + +In this tutorial, you will be learning about working with the Sketching and Smart Dimension tools! This is your first exposure to 2D design features within Solidworks! + + + + +### Solidworks Tutorial 1.3 - Linear Extrusions & Linear Cuts + +In this tutorial, you will be learning about working with Linear Extrusions and Linear Cuts! This is your first exposure to 3D linear design features within Solidworks! + + + +### Solidworks Tutorial 1.4 - Revolving Extrusions & Revolving Cuts + +In this tutorial, you will be learning about working with Revolving Extrusions and Cuts! This is your first exposure to 3D linear design features within Solidworks! + + +### Solidworks Tutorial 1.5 - Assemblies & Mates + +In this tutorial, you will be learning about working with Assemblies while also using Mates to combine the parts you have designed! This is a departure from your work in part files as you will now being working within assembly files. + + +### Solidworks Tutorial 1.6 - Mechanical & Robot Chassis Design + +In this final tutorial, you will learn more about the basic principles of mechanical design when it comes to robots. We will be using Robotathon as an example of typical chassis design! + diff --git a/docs/_sections/_guide-primaries/designing-a-robot/constructing-chassis.md b/docs/_sections/_guide-primaries/designing-a-robot/constructing-chassis.md index 102f3bdb..d2dd962e 100644 --- a/docs/_sections/_guide-primaries/designing-a-robot/constructing-chassis.md +++ b/docs/_sections/_guide-primaries/designing-a-robot/constructing-chassis.md @@ -4,4 +4,36 @@ title: Chassis Construction nav_include: true parent: Designing a Robot nav_order: 4 ---- \ No newline at end of file +--- + +# Chassis Construction + +Now that you have some idea of your drive system layout, let’s look at how to build a base for your bot. While you can use a Poptart box to house everything (yes, it’s been done), we highly encourage you to use one of following methods. + +## Subtractive Manufacturing (SM) +SM, like laser cutting or mills/lathes, removes material from a product to achieve an end result. The laser cutters in the Makerspace can cut things like wood or acrylic sheets. + +**Pros of laser cutting:** Fast process, best for larger items, can engrave + +**Cons of laser cutting:** Must pay for material, must be trained at TIW + +## Additive Manufacturing (AM) +AM, such as 3D printing, adds layers of materials to create an object. The CraftBots in the Makerspace use PLA or PETG (plastic) filaments. + +**Pros of 3D printing:** Free, best for small 3D parts, no certification required + +**Cons of 3D printing:** Slow process (also prone to more error), main CraftBots are limited to 1 ft3 + +Tolerances for 3D printers: +- 0.0175” for a loose fit +- 0.01” for a friction fit + +You can create your chassis out of a single part or attach many parts together. If you decide to do many parts, adhesives like hot glue, wood glue, and (of course) duct tape work great. + +## Extra Tips +- Don’t forget to add holes or section dividers for wheels, wires, sensors, etc. +- Make sure to design your chassis to accomodate your breadboard and wires! +- If you’re a visual person, create an assembly in Solidworks of your robot base before constructing! Find part files online or create rough estimate shapes and see how everything fits together. +- When fastening things like sensors or casters, temporarily secure with foam tape then use other adhesives once you’re 100% certain! +- Motor mounting bracket step file for 3D printing: [https://www.pololu.com/product/3435/resources](https://www.pololu.com/product/3435/resources) + diff --git a/docs/_sections/_guide-primaries/designing-a-robot/drive-system.md b/docs/_sections/_guide-primaries/designing-a-robot/drive-system.md index 7c023f3c..479abb0f 100644 --- a/docs/_sections/_guide-primaries/designing-a-robot/drive-system.md +++ b/docs/_sections/_guide-primaries/designing-a-robot/drive-system.md @@ -4,4 +4,27 @@ title: Drive System nav_include: true parent: Designing a Robot nav_order: 2 ---- \ No newline at end of file +--- + +# Drive System +We’ve provided the following components to your parts kit: +(((list provided components))) + +Remember, you have an external budget that you can use to buy more servos and casters if you wish. Additionally, you have access to the TIW makerspace 3D printers and laser cutters (free training required) to design and print your own wheels and hubs. + +Now let’s look at the drive system. In this article, we’ll be looking specifically at two wheeled drive. With two wheels, you’re pretty limited in how you can drive. Typically, a robot with two wheels has the wheels on the sides, like below. The red regions are where you can put the wheel axles. + +4 :( + +Can you think of any ways that having two wheels may affect the balance of your robot? What if the wheels were in the front and the back side had a heavy battery on it? Additionally, another thing your team should consider is: how will the robot move with your wheel configuration? Will it drive in straight lines? Rotate? How can you error correct for tilting? + +As you can see, the wheel positions will immensely affect the design of your mechanical systems and software algorithms. Your decisions are very important since reliable movement is a key factor in the competition courses. + +After you’ve decided upon your wheels placement, how you drive your wheels (software) can also result in different movements. See the below two diagrams and observe their center of movement (the white circle). You can drive both sides at once, or a single side. You can drive them in opposite directions, and you can drive them at different rates. There are so many options! + + +4 :( + + + +Remember, you aren’t limited to any configuration. In fact, we recommend you try them all out! diff --git a/docs/_sections/_guide-primaries/designing-a-robot/sensor-and-actuator-placement.md b/docs/_sections/_guide-primaries/designing-a-robot/sensor-and-actuator-placement.md index 46206ef0..b93fb092 100644 --- a/docs/_sections/_guide-primaries/designing-a-robot/sensor-and-actuator-placement.md +++ b/docs/_sections/_guide-primaries/designing-a-robot/sensor-and-actuator-placement.md @@ -6,21 +6,20 @@ parent: Designing a Robot nav_order: 1 --- - -# lowk what if i just dont do pictures and let them figure it out # Sensor and Actuator Placement -During the design process you will need to carefully plan your sensor and actuator placement as it will drastically shape your robot! This section will give a brief overview of some things to consider during this part of the design process. +You will need to carefully plan your sensor and actuator placement as it will drastically shape your robot! This section will give a brief overview of some things to consider during this part of the design process. ## Infrared (IR) Distance Sensor -The distance sensor will be used during the wall following portion of the competition. The location of the distance sensors *will* affect your chassis design and code so it is important to decide on a good location! Also remember that you should include multiple IR sensors in your design. +The distance sensor will be used during the wall following portion of the competition. The location of the distance sensors *will* affect your chassis design and code, so it is important to decide on a good location! Also remember that you will have multiple IR sensors in your design. {: .highlight} -Remember that the (insert sensor model here) has a specific range (link to datasheet) that produces good output, so place your IR sensors accordingly! +Remember that the GP2Y0A21YK0F IR sensors have a specific range [(link to datasheet)](https://www.pololu.com/file/0J85/gp2y0a21yk0f.pdf) that produces good output, so make sure your placement does not break your wall following! {: .callout-toby} Below are some different ideas of placement: -pictures +IR_sensors.png :( + ## Line Sensor and Color Sensor These two sensors will have similar placement! The line sensor and color sensor will be used to to detect what is right underneath the robot so these two will be placed on the bottom of your robot. Make sure your sensors are very close to the ground in order for them to function properly! @@ -29,16 +28,10 @@ However, a common issue with the color sensor is that there is not enough neutra Since your sensors need to be very close to the ground you should consider how you will be building the chassis of your robot and how you will attach these sensors. Your wheels will add some height to your chassis so you might have to add some form of support to the bottom in order to hold your sensors close to the ground. -Below are some diagrams and pictures to help you visualize this: -pictures - -## Actuators -"Actuators" is just a fancy name for motors or anything that enables movement for your robot. You will need at least two of these with a castor ball to have a moving base. While you have full creative reign on where to put your actuators to achieve motion and solve the mechanical challenge, it will be important to consider where to place your wheel actuators since they will affect how your robot drives and most importantly turns. +Illustrated below is a sample configuration: +line_and_color.png :( -4 :( - -1 :( - -2 :( +## Actuators +"Actuators" is just a fancy name for motors or anything that enables movement for your robot. You will need at least two of these with a castor ball to have a moving base. While you have full creative reign on where to put your actuators to achieve motion and solve the mechanical challenge, it will be important to consider where to place your wheel actuators since they will affect how your robot drives and, (arguably) most importantly, turns.