2581P – Sack Attack

“It was tall. ” –Justin Evankovich, Class of 2014

In contrast to Team B, Team P's robot was designed to pick up many sacks at a time. Able to reach up to the high goal with a set of linear sliders and a rotating arm, its base could move over piles of sacks on the floor, with wheels zip tied to each side to prevent tipping.Team P’s robot this year was a powerful, efficient machine. The robot was driven by four 393 motors each driving one mecanum wheel, allowing for speed and mobility. The gear train was a 2:3 ratio sprocket and chain drive, allowing for even more speed. All of this was contained in the chassis of the robot and mounted so that the motors could easily be removed without having to tear the entire drive train system off the robot. The lifting system was a version of a 4-bar lift using a combination of motors mounted to a sixth bar and pneumatic pistons. The lifting motors combined with an impressive 1:25 gear ratio was enough to “twizzle” or twist the axles before actually lifting the arm. At the end of the arm was the intake system, comprised of two motors, a lightweight sprocket and chain system, eight intake wheels and about 4 feet of axle. This intake was capable of picking up two bucky balls at once and placing them into any goal. An attempt was made to expand the width of the robot during competition to allow the robot to pick-up the big balls as well, but friction between linear sliders quickly buried that idea.

The Robot

Waiting for a match to begin. At first, the robot had omnidirectional wheels for the ability to move sideways.  However, these wheels often got stuck on sacks. Later, the robot had tank treads for more ease moving over sacks and wheels zip tied to the front for stability. The underside of the robot was covered in screws and lock nuts in order to keep its center of gravity low.  Taking everything apart after the season ended was a nightmare. The eight wheels on the sides helped to maintain a low center of gravity as well. “We had a lot of issuees with the gears in the neck - they moved independently, which gears aren't supposed to do.“ – Justin Evankovich

Photos from the Season