FRC 2014: Leviathan
This animation describing the 2014 FIRST Robotics Competition challenge, Aerial Assist, broadcasted by NASA. Robots assist each other to move 24-inch game balls down the field and into low or high goals to score. The more the robots assist each other, the higher their bonus points will be. This animation was first shown at the 2014 season FRC kick-off broadcast in January, 2014.
After conducting kinematic studies we came up with an initial concept design for how our robot would look and function. Our chassis design was completed before the build season started, with the assumption that the field was flat. When we received the game animation and found out the field was flat, this cut down the subsystems which needed to be designed by 1.
An interesting aspect of the final design was a pivoting motor to release the winching mechanism which launches the ball game pieces. The motors sit on a pivoting mount which is actuated by a piston.
One issue we discovered when testing our robot, that the ball game piece would not settle while the robot was being driven around. Thus, when we would try to shoot the ball, it would not take the trajectory as designed.
To solve this issue, we designed an actuator that would press on the ball whenever the robot is driving around. Just before the ball is shot, the actuator disengages and allows for the ball to shoot, along the designed trajectory.
Leviathan traveled to the Windsor, Waterloo, GTA East, and GTA West regionals, as well as the World Championships in St. Louis. At Worlds, Leviathan reached the quarter finals of the Curie Division. Watch the quarter final match below.