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Today we tackled the hard problem: mapping out where the aircraft cable will run throughout the robot. The system currently includes 6 pulleys, two "loops", a spool and the gearbox. We chose a new gearbox today after Lyle made a suggestion that we switch to the AndyMark RAW wormbox, which is easier to use and fits nicely with our motors (mini CIM's). This gearbox is 3 times more expensive, however we have made a decision to use it anyway because it is a better gearbox and is much simpler. The RAW box will be mounted with the output shaft will be vertical and the spool will spin the the cables in the same direction using the ingenious strategy that can be found (like everything else) in the computer 5 notbeook. One cable will start at the top of the spool and the other will start at the bottom and they will spin in the same direction. We mapped out the winch cable system so that the cable will run along the same incline of the sheet metal and around to the back of the robot, where the RAW box will be. We began the super duper detailed drawing for eventual CAD. The length of the robot is 28" and the length of the back portion will be 4" and the length of the sides that protrude will be 24". The sides that extend will have a width of either 5.5" or 6" depending on the length of Kavi's pistons. the middle open section that has the totes and containers will be 21" in width. The entire robot will be 33" in width. We also decided to make only one robot and then make the second one later so as not to use all of our money at once.

• Mapped out the winch system
• found and chose a new gearbox (andymark RAWbox)
• devised a spool system 
• began dimension drawing for CAD
• worked with Kavi and Lyle on integration and created rough robot dimensions
• decided to build only one robot at a time (not two)

We have all of the systems drawn out roughly and mapped out on the robot, but they require more details and specifications before they can be sent to Jay and the CAD subteam. Also we are relying on Kavi for a lot of dimensions and are often waiting on him to be able to continue working. Also we are reaching our budget limit.

Finish up final dimensions for all of our systems and begin talking to Jay about CADing. Pay special attention to the sheet metal sides that need to be machined. Work more with Kavi to devise a hook system for the top of the pulley to hook into his part that holds the pistons. 

I believe we are still ahead of schedule. :D