FIRST Frenzy: Raising the Bar - Talon V

This machine had an automatic 2 speed transmission and a custom wheel encoder built from Banner optical sensors.  It had the ability to climb on the platform and hang from the bar in autonomous,

the 2004 robot was a single purpose maching built to hang fast and reliably.  All other attempts to enhance functionality such as manipulating both small and big balls were abandoned during the build season.  For this year it was the right decision since the Gaelhawks took home the championship in Connecticut.

The custom notched wheels helped with climbing the platform and the pnuematic tires gave the traction necessary to do it.

 

 

 

Talon V Features

 

 

         Drive System

    • 2 speed transmission
    • Fully automatic or manual
    • Geared to 6 fps low and 12 fps high
    • Magnetic sensors built into the pneumatic shift cylinder provide positive feedback if low or high is engaged at the robot and at the operator interface
    • Unique slip wheel design provides more resistance to side impact than omni or caster wheels yet allows it to be driven and slips adequately in turns
    • Drill motors mounted in the same orientation to take advantage of matched speeds in the forward and reverse directions as there is a difference
    • Wheel assemblies and transmission easily removed for maintenance

 

  • Electronics
    • Centralized component board for easy diagnostics
    • All necessary LEDs, grounding blocks, and fuse panels visible to the inspectors and referees
    • Protected location
    • Easily swap components as the board is very accessible
    • Custom Electronics & Kit Supplied sensors include
      • Current limiting on the drive motors
      • RPM indication on the drive motors using a Hull effect sensor to let the control program know when to shift in automatic mode
      • Optical Sensors used to measure linier distance on the Robot wheels and position indicators for the bar hanging arm for multiple autonomous modes.
      • Mechanical limit switch to control maximum and minimum travel on the lift mechanism
    • Multi-position Autonomous mode switch supports up to 16 variations
    • Use of LEDs on Operator interface for visual feedback from the robot
    • As many robot functions automated as possible and assigned a setting on the operator interface by rotary switch

 

  • Pneumatics
    • On board pump
    • Use of large Bimba cylinder to increase reach to the bar
    • Double solenoids on shift and extend to control forward and backward motion and the piston stays at last position when power is cut
    • Use of pressure transducer to more accurately gage accumulator pressure that cut off switch

 

  • Mechanisms
    • Ball Gatherer can quickly ingest and expel to the human player up to 4 balls
    • The hanging arm can effectively stuff Big Balls down into the goals making them difficult to retrieve by an opponent
    • The hanging arm has a long enough reach to hang from the floor