Today at 13:00 we started with the basic principles of physics,

specifically parabolic motion, seeking the way the assembly

mechanism could allow us to make a good balls pitcher.
The mechanical structure that currently we are thinking about, will work
rotating at high speed two wheels leaving between them a separation
distance so as to release the ball by the friction between the wheels
and the ball.

Dibujar ruedas del lanzador con la pelota

simulando el lanzamiento
So as to increase the speed of the wheels rotation we will then use a
gear system, taking as reference a couple of calculations regarding the
different gears provided by the kit.

Dibujo de los enegranajes formando el

sistema para el lanzador
Calculo de la ganancia entre motores
Los clculos de movimiento circular
Asuncin 10/12/15

Today we start with the assembly of the mechanism for the launcher.
Basically the job is to build the previously thought ideas with the
available parts. We expect favorable results that match the calculations
previously made.
Clculos fsicos movimiento parablico, lanzamiento

Dibujo del lanzador inicialmente

Asuncin 11/12/15
We had to reanalyze the gear we had done because after the demonstration of efficacy we
have seen that the speed of the rotating wheels, the currently works as the pitcher isnt
enough for the ball to reach the level we need.
We returned to perform calculations regarding the relation between the gears and have
implemented the use of other gear so that we can get as much rpm of the engines.

Dibujo de los engranajes

Keeping in mind the characteristics of the vex ball provided by the kit, we realized that we
need to include to the calculations some variations. The ball has 10 cm in diameter, its
made of polyethylene, and its weight is 50g with a tolerance of 5g.
After the assembly with different gears, during the performance test we have seen that the
wheels acquire higher speed, purchasing the ball acquires higher height during his career.
During test we have also seen that the angle of inclination of the ball thrower is of utmost
importance regarding the scope and height the ball has to reach.
Later, the coach gave us a demonstration with charts on the whiteboard showing us
that the angle should be of 45 to the x axis. After the remarks made tested the
operation of the pitcher, we returned to perform a test with the modified angle and
observed that the scope has increased and the height is slightly diminished.
We have almost finished the pitcher, now we will focus on building the base that will
enable us to move.
Basically, wed build a gear system for the four wheels we are going to use.
The base assembly doesnt represent important complications. Soon well have to hold
the pitcher to the base so as to gradually consolidate the body of the robot.

12/12/15
Today we started with the calculations for the assembly of collector and improve ball
pitcher. It is extremely important the angle of inclination of the collector for a good delivery
of the ball to the pitcher to achieve the desired release. We had some problems with the
number of engines available to us. There were several models to be analyzed for the

collector as well as for the pitcher. After testing we will see if the current model satisfies all
the requirements, otherwise, we will have to modify it.

After the tests, we have seen that the speed of the collector is
very low. We need to rise to the ball launcher with a higher
speed.
We initially planned to use a chain mechanism balls collector.
When assembling the collector with the chain we have noticed
that the speed seemed diminished, so we decided to add a
band
Whenever we modify something about the mechanism also
we modify the program.
We extend the distance between the wheels of the base,
instead of using four engines we would be using two.
Through a system of gears we could move all four wheels with
only two engines.
After analyzing the current situation of the collector and
seeing their current flaws we decided that the band that used
to elevate the ball to the pitcher needed something to keep
the ball on his way, we implemented fins that are attached to
the band so as to have less derailment.
The problem is that it takes us a little longer ascension with this
method than with the previous one.
Previously for the pitcher we used two wheels with opposite rotating
direction and the same speed, i mean, with a separation distance of 10
cm between each wheel by the friction force we get a parabolic motion.
With current model of the robot we got a good distance range . What
we should improve would be the way to collect balls.
By keeping collector filled with balls, it doesn't get the maximum engine
power, it's feasible that for the desire throw of the ball we need the
engine at max speed in order to trhow the ball as well as it's possible.
Handling the height of the band is essential to achieve a good throw
without subtracting speed from the pitchers.
The placement of the band was not very productive so we decided to
take it and minimize its height with the plate serving as a rail.
After several practices we have noticed that the dimensions of the field
are essential cuz with them we can calculate the speed the balls need
to reach.

Once the competition started we cant change the launching angle. We

feel that the body of the robot exceeds the limit of dimensions given,
what leads us to have to come up with another way to join the current
position of the gears that allow the robot motion rub against the floor so
that cause wear in it. We must reposition the motors and gears for a
correct movement, free of friction. When practice note that due to the
constant vibrations of the robot body, bolsters break off and some bolts
were lost.
Placing the mecanum on which we used above for the pitcher, we note
that it acquires greater height and reaching. We hesitated about the
position of the collector and the pitcher cause them are making this
robot has two fronts. This significantly hinders the driver. By the modify
of the program to change certain commands , we estimate that it would
be interesting to control the direction of travel with another button
(changing front), allowing us to go and get the ball against saving us
some time, avoiding the complete rotation of the robot. After practices
and measurements we have made the robot has the limit size for
competition. We assume that the body of our robot has a standard
weight so we decided to do a lifter and raise the robot of our alliance
trying to get the 50 points for the high elevation.
The lifter consists basically of two columns, one at each extreme of the
robot. In a column we'll place a rail with a chord gear, this will cause
the hook placed at the end of the column can go up and down
depending on engine orders.
What now we see as a challenge, is to find the balance when the
wheels of the robot to be raised clear of the base of the field.
It's possible that during the uprising, our robot could be tilted sideway
the other robot, if it's too heavy, so we need to put all the possible
weight on the other side of the lift rod.

At the time of setting all the details and check the dimensions, we
modified the angle of the rail collector causing this an inconvenience
when throwing the ball.
We must consolidate the robot base so that all parts are attached
securely to prevent vibrations, avoiding any kind of incident when
competing.
Soon we'll handle the positions of the sensors and undertake tasks to
each one.
It is of utmost importance the proper administration of the sensors
along with good programming in order to obtain points during the
autonomous period that lasted 15 seconds at the beginning of each
match.
Escribir el programa
We've had some problems during the assembly, the robot
didn't performed completely with the assigned functions, I
mean, it didn't collect the balls from the floor which let us to
disarm the robot so as to find the exact spot.
When assembling back we had some drawbacks when putting
up the robot, the movement wheels spinning at high speed,
apparently didn't touch the ground and the robot structure
couldn't move correctly.
There are several strategies that after observing and
analyzing we decided to adopt.
The use of gears with the number of teeth required for each
assignment.
Using multiple gears forming a gear system to reduce the use
of motors.
What causes to us some problems now is the assembly of the
frame to lift the other robot during the competition. It's a little
uncertain to know the weight of the robot we have to raise, so
as to calculate if it will be possible to lift it.
They must be analyzed various factors such as weight, height
of the structure that will allow us to pick it up and take us time
to achieve the lifting

With all the assembly that takes up the robot, we strengthen

but had some drawbacks when handling since this was not
responding properly to commands.
We haven't achieve a lifting system yet, it isn't an easy task.
The day of competition is arriving, we look forward for everything to work out as we
planned. It is of utmost importance not to have any kind of problem with respect to the
general operation of the robot during the competition.
Therefore it is very important to make some tests to the robot after making any
change.
Vex edr 393 engines are the primary engines used for robot mechanisms , also for the
speed.

Robot
drawing

While we were going deeper into the world of mechanics , we

were noticing that certain parts need to be tilted, we said it
would be a conflict.
When looking at the available parts of the kit we couldn't find
anything that we could be usefull until after much searching,
we found the angle of 45 which would be excellent.
This taught us that it is very important to have located the
parts where they belong and where we have easy access for
viewing them.
Over time and view all types of designs that analyze we
expanded our imagination and every time that we had a
problem we made it easy to fix .
For us it wasn't an easy task to assemble a robot and
programm its functions, previously we hadn't idea how to
start.
It was a challenge to put together our own robot with our own design.
At the beginning we had some complications after practices, challenges were
disappearing
The hardest part of this project is to design the model, i mean, the position of each
component.
It's amazing how the angle too can influence when doing the functions of the robot.

We lose a lot of time calculating the angle indicated for the collector and even more for
the pitcher.

When we finally found the angle indicated, we measure the sides of the robot and saw
that reached 45 cm are allowed.
Every time I went back to arm we reduced the size or the number of parts.
The challenge requires several components as they are: devising models, calculate,
check operating and maintaining an esthetic as much as possible.
The peer group has people enough specialized in the area where they belong.
The builder is responsible specifically everything that relates to the mechanical part of
the robot
The designer specifically to see the feasibility of the design in question.
The programmer is responsible for all the design and functionality of the program,
working with the drivers to chat about some changes.
The driver was specifically carrying handles just testing the robot, it is important that
the driver familiarize with its management to achieve the best possible results.
In the group there is enough communication which is extremely important for us
because so that we can discuss the conflicts and provide possible solutions.
Last time we had problems when management control due to the settings made by the
programmer, controls that activate the launcher and the collector next to each other
causing confusion for the driver
After a chat as group, all members agreed it would be beneficial to have a control with
the front of the robot is interchangeable.
During the practices we used to have some problems with the signal. The cortex lost
the connection to the control.
The battery connection to the cortex used to disconnect after blows, that could be
solved with a 9V battery connected to the cortex.
The rods are normally used aluminum think the best would be the robot didn't have
much weight, which at that time we didn't think about is that when lifting the other
robot we would need to have more weight.
After analyzing we decided to change some pieces to gain a little more weight.

It is important to good weight distribution. At first the lack of experience we had certain
problems when placing the cortex and battery.
At first we placed the cortex and battery of a side guided by esthetics forgetting what is
most important to its proper functioning. With this, the robot couldn't work well.

The robot was fully armed, all that remained was to

make the final adjustments.
The wheels of the robot stopped working, It was hard
at first to understand why. After observing and
analyzing we discovered it was the structure.
At first the length of the band was still a problem, we
were above the allowable limit, so we changed the

angle but doing so, it difficulted the ball climbing by

the rail.
With minimal clogging the ball stopped. We must solve
as soon as it's possible.
It is extremely important to control the scope of the
ball, so we decided to have two speeds for the wheels
that serve as a pitcher. Speed is average and the
other maximum.
With the minimum speed we could approach the
basket and with the maximum speed we could launch
from the high area.
It is imperative that the scope of the ball from the
frigid zone to the basket is adequate to score as many
balls in the time that we are allowed to feed the robot
ourselves with balls.
Everything is very broad, nothing is said, the job is to
test any theory.
At first our robot had four-wheel drive, after
calculating we saw that we would need to use more
engines for other functions. We were forced to use two
engines instead of four. We decided to move the four
wheels with two engines and a gear system.
We tried their displacement with 4 engines and then
with the two, apparently no changes when using two
motors.
initially they had the same speed.
We noticed that we needed to improve our laps
without move too the place where we were.
We believe that it is prudent to place the two engines
with the respective gears to rotate all four wheels.

We currently have several doubts about the sensors

and the programming for the autonomous period.

Is very complex area of programming, can perform

various actions in the 30s of the autonomous period.
On this day we will take care of the installation of the
sensors. There are several sensors, we investigated
about each type to try to get the best possible results.
The current disadvantages are a bit annoying.
At the moment we have problems when displacement.
The robot has a wheel type makes it can slide in
direction perpendicular to its path.
We must properly adjust all parts of the robot to avoid
any incident.
The use of stops we find quite convenient to avoid
unwanted friction gear with the robot structure.
Washers play an essential role when it comes to
ensuring the pressure that must be exerted.
Throughout this time we have learned to work
together to cooperate and treating us politely.
It is imperative that the engines are tight with the
gears so that there is no unwanted fails
Any misalignment in one of the gears cause a massive
failure.
During this time it took us to develop the project, our
only goal was always to get the best results after
investing in it our best effort, time and dedication.