Note Viewer

We designed a method for mounting our gearboxes. They will be mounted on 5 or 6 bolts an when the bolts are released from the inside of the bot, the gearbox will be free to rotate around the wheel shaft. When rotated 90 degrees, the gearbox will be able to slide into the bot and will then be disconnected from the bearing holding the shaft. the gearbox can then drop out the bottom of the drivetrain with the wheel on the shaft. There are a couple issues. First of all, the rotation will require that the CIM motor passes through the top plate of the drivetrain. Therefore, a rectangular hole is necessay to remove the CIM. The CIM will also interfere with the flat flange of the top plate. This horizontal bit is essential for the structural integrity of the drivetrain. Instead of doing this, we will rivet the top plate to the side plate of the drivtrain vertically. This will be just as strong and will conserve an inch of space on each side. The flange will no longer interfere with the CIM. Mounting plates for th motors are cadded. Lyle also worked with the other subteam captians to decide how wide the interior part of the robot needs to be. We were oricinally planning to make it 26 to allow us to drive around the container with the lid end in the robot first. Now we are giving up on this and simply going to drive up on fallen containers from the other side. The interior compartment will now be 21. Our drivetrain will be about 5 inches wide on each side and 8.5 inches tall. Whether or not clamp subteam will fit their components into this space is not apparent. Lyle also found a way to flip open wedges at the front to guide totes and containers into the bot. They will be mounted on a door hinge and will be able to pivot into the cavity of the robot. They cannot be too pointy otherwise they will be illegal. 

We concluded on the sizing of the robot, figured out how we plan on mounting the gearboxes, and CADed the gearbox mounts. We also started working on the BOM to ensure that we would stay inside our budget. 

We still need to make sure the back end of the drivetrain is strong enough to support all the strains coming onto it. We are also dangerously close to running over our budget and whether we do or not will come largely down to machining costs. In addition, we cut back on a spare set of mecanum wheels to allow us to have an extra $240 in our budget. 

Work on the back part of the robot and start CADing the sides. Work with lifter about the mounting of their gearbox onto our drivetrain in the best possible way to reduce winch strains. Finish the BOM. 

We are waay ahead of schedule. CAD has already begun and dimensions are finalized.