Prometheus
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Subsystems
Intake
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Prometheus utilised an active intake with surgical tube rollers. The plates were a combination of 2mm aluminium and carbon fiber. 3D printed guidign vectors brought the sample to the center and directly infront of the colour sensor, positioned at the back. On the base plate behind the rollers, was an exit chute, which would automatically open and discard the sampel if not the intended colour. This intake was extended via misumi slides.
The surgical tubing was orinetated in a specific way, in which each half was positioned offset by 45 degrees. This orientation moved the sample while intaking, placing it into the perfect position for transfer without any extra mechanisms needed
Outtake
The outtake utilises box tube for vertical extension, for increased rigidity and stability. THe outtake went through multiple iterations, from MDF to aluminum, and fianlly carbon fiber, allowing for smooth and fast transfer and deposit.
The outtake arm moved vertically via a linear rail mounted on the box tube, allowing for extra degrees of movement and precision, as well as a shortened arm, adherign to extension limits. The claw was ultimately made 3D printed carbon fiber
Hang
The hang was a free build, stringed to a pulley, powered by a 43 rpm motor. When initiated, durign endgaem, teh 'hooks' would go up, and be driven into the rung. These hooks were fairly large, allwoign for slight driver inancuracies and ease. Once on the rung, the string would be pulled via teh pulley, adjusted it's lenght and thus pullign the robot up via a metal axel
Kalvar string was used for it's high strength and the strign was doubled for relaibility. The arm was coutnersprung upwards with a hard stop to achieve a desired height quickly
Drive Base
The drive base was designed with extension limit in mind. Thus, the widths and lengths were minimised as much as possible, whilst leaving enough room for the subsystems. The sidepaltes were pocketted aluminium
The battery was mounted inside the bot for Nats rather than on top, keeping it secure, safe and effective. The drivetrain utilised a belt drive
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