Macro Design

1. Overview

1.1 Introduction

1.2 How to Use this Handbook

1.3 Mechanisms

1.4 Kickoff Design Process

1.5 Online Resource References

2. Drivebases

2.1 Introduction

2.2 Tank Drivebases

2.3 Omni Drivebases

2.4 West Coast Drivebases

2.5 H-Drivebases

2.6 Mecanum Drivebases

2.7 Octocanum Drivebases

2.8 Swerve Drivebases

2.9 Drivebase Gearbox Shifting

2.10 Further Comparison of Drivebases

2.11 Summary on Drivebases

3. Intakes

3.1 Introduction

3.2 Over Bumper Intakes

3.3 Through Bumper Intakes

3.4 Under Bumper Intakes

3.5 Filtering Considerations for Intakes

3.6 Summary on Intakes

4. Indexers and Storage Systems

4.1 Introduction

4.2 Linear Indexers

4.3 Moving Floor Indexers

4.4 Rotating Indexers

4.5 Filtering Considerations for Indexers

4.6 Summary on Indexers & Storage Systems

5. Flywheels

5.1 Introduction

5.2 Single Vertical Flywheel

5.3 Double Vertical Flywheel

5.4 Single Horizontal Flywheel

5.5 Double Horizontal Flywheel

5.6 Turntables (for Flywheels)

5.7 Further Comparison of Flywheels

5.8 Summary on Flywheels

6. Catapults

6.1 Introduction

6.2 Choo-Choo CAM Catapults

6.3 Standard (Large Snail) Cam Catapults

6.4 Sheared Gear Catapults

6.5 Winch Catapults

6.6 Pneumatic Catapults

6.7 Catapult Example

6.8 Turntables for Catapults

6.9 Summary on Catapults

7. Arms

7.1 Introduction

7.2 Single Bar Arms/Pivot Arms

7.3 4-Bar Arms; Chain Bars

7.4 6-Bar Arms

7.5 Double Reverse 4-Bar (DR4B) Arms

7.6 Theoretical Extensions of Arm Types

7.7 Summary on Arms

8. Lifts/Elevators

8.1 Introduction

8.2 Single Stage Lifts

8.3 Continuous Lifts

8.4 Cascade Lifts

8.5 Telescoping Lifts

8.6 Further Comparison of Lifts/Elevators

8.7 Summary on Lifts/Elevators

9. Advanced: Multi-Axis Arms

9.1 Introduction

9.2 Arms on Lifts

9.3 Extendable Arms

9.4 Multi Jointed Arms

9.5 Simple Arm & Lift Combinations

9.6 Summary on Multi-Axis Arms

10. Claws

10.1 Introduction

10.2 Static Claws

10.3 Gripper Claws

10.4 Roller Claws

10.5 Wrist Designs

10.6 Summary on Claws

11. Advanced: Motor Sharing Techniques

11.1 Introduction

11.2 Ratchets

11.3 Differentials

11.4 Gear Shifting

11.5 Summary on Motor Sharing Techniques

12. Design Process

12.1 Introduction

12.2 Navigating the Kickoff Design Discussion

12.3 Understanding the Game and Its Context

12.4 Formulating a Game Strategy

12.5 Planning the Robot

12.6 The Handoff to the CAD Team

12.7 A Macro Design Case Study

12.8 Closing Reflection