FIRST

Goal: Create a robot that can accomplish the 3 main tasks of the game.

The 2023-2024 FTC game was CenterStage. The FIRST (For inspiration and recognition of science and technology) Tech Challenge, is a high school level robotics competition. It consisted of 3 key game elements. Being able to transport a small hexagon shape called a Pixel, being able to shoot a paper airplane called a Drone, and being able to hang the robot on the game field’s rigging. FTC features teams and our Portledge Program likes to keep them in between 6-8 people. Instead of names, they are given numbers. My team, 7417, had eight people. We split ourselves into four groups of two in which I was placed into developing the Pixel Grabber.

Below is a day-by-day detailed analysis of the engineering and design process of our team's pixel delivery mechanism. For a condensed version and a summary of the robot functions, go here.

Progression of the Grabber (Pixel Gripper)

Part 1: Initial Concept and Design (October 5-8, 2023)

We initially planned to use linear slides for our pixel delivery mechanism
We asked Mr. Coleman about using 80/20 linear slides
Mr. Coleman promised to order new, more sturdy slides capable for our purposes
We recognized that creating all the moving parts would be complicated
We decided to create a CAD model instead of a drawing
On October 8th, we created a claw mechanism for picking up pixels using a REV document
We followed instructions to build the gripper, which had multiple mistakes
After testing, we realized we needed a rubber piece to hold the pixels
We cut a rubber mat, drilled holes in it, and attached it to the gripper
This modification fixed our gripping issue

Part 2: Design Reconsideration and Linear Slide Development (October 11-18, 2023)

We were waiting for linear slides to arrive, putting full building on hold
Mr. Coleman showed us videos that changed our minds about the delivery system
We reconsidered our idea for linear slides on an axis
We watched Rover Ruckus videos for inspiration on delivery systems
We realized we had no way to prevent backslides and needed to figure out how to make a REV worm gear
We received our linear kits and took inventory
Two groups of us worked on separate linear slides, following an instruction manual
We finished building one linear slide but realized it was too tall (16.5 inches)
We discussed the need to either cut/shorten our linear slide or scrap the idea
We considered buying two other REV linear slides or finding shorter rails
Mr. Coleman provided us with an old linear slide to disassemble and repurpose
We considered 3D printing new spacers for our slide

Part 3: Redesign and Challenges (October 23-26, 2023)

We continued disassembling an old linear slide for spacers and pulleys
We decided to make the slide out of 4 smaller rails instead of 2 large rails
We worked on filing down the rail end linear extrusions due to poor cutting in the previous year
We encountered an issue with an old spacer and pulley on one of our rails
We put together the new and smaller linear slide using parts from the old one
We had trouble fitting in a screw due to incorrect cutting in the past
We worked on re-adjusting the spacers and bearings on the linear slide
We faced issues with the extension of the linear slide
We had to work around/with an old blue spacer
We continued working on the linear slide for the grabber

Part 4: Rebuilding and Transition to New Design (October 29 - November 1, 2023)

- We finished the linear slide but had trouble with the endcaps

- We encountered a major problem: the rails would not slide at all

- Due to poor rail quality, we decided to restart the lift

- We planned to cut the rails using a hacksaw and remake the 4-rail linear slide

- We waited for new hacksaw blades to cut large rails to replace the old uncut ones

- We researched where to put the camera and how to code it

- We realized the linear slide might be less effective and decided to find another arm

- We figured out that an arm would be more effective than the linear slide

- We started looking for another arm to use for our robot

- We decided to redesign the pixel mechanism to use an arm instead of a linear lift

Part 5: Transition to Arm Design and Ongoing Challenges (November 2-16, 2023)

We decided to redesign the pixel mechanism to use an arm instead of a linear lift
We started looking for a mechanism for the arm and began building it
We created a base design for how the arm attaches to the chassis
We realized we might need to order more parts to finish the arm
We worked on designing a prototype for the arm
We began using other parts to finish the design of the arm mechanism
We faced challenges with not having duplicates of needed pieces
We had to rearrange the robot to accommodate another part for the pixel arm
We started building the pixel arm after rearranging the robot
We continued working on the arm design while dealing with missing parts

Part 6: Refinement and Integration (November 17-28, 2023)

We attempted to set up the arm for the pixel grabber but found it couldn't reach the backdrop
We identified a solution to extend the arm's reach but ran out of time to implement it
We changed the tower pieces to be longer to improve the arm's reach
We planned to make the piece connecting the gripper to the arm longer
We elongated the arm for the grabber, allowing us to reach further and place pixels higher on the board
We created more stability between the two bars that hold the pixel grabber
We switched out a shorter beam for a longer one to improve the arm's functionality
We continued to refine the pixel grabber design while integrating it with other robot components
We faced challenges with parts availability and had to adapt our design accordingly
We made progress on the arm design while balancing it with work on other robot components like the hanging mechanism and drone launcher

This was a temporary pause in the development of the grabber. My help was needed elsewhere and I still had to develop code for the robot. We didn't change the grabber until after our first competition. The other two robot components I worked on will be in the condensed version linked here. Below is the final step in the grabbers' journey.

This is a picture of our working pixel grabber. We added two wheels to allow the arm to move while it is on the ground, and tape on the wheels to stop it from damaging the field.

Part 8: Final Preparations and Refinements (January 18 - February 3, 2024)

• We designed and implemented a new, lighter gripper for the pixel mechanism

• We bolted the tower to the front chassis rail to improve stability

• We successfully achieved a working pixel arm, adding wheels to allow movement while on the ground

• We added tape to the wheels to prevent damage to the field

• We attempted to modify the grabber to pick up two pixels at once but ultimately returned to a single-pixel design

• We made adjustments to improve the grabber's functionality, including fixing issues with opening when on the ground

• We continued to refine the pixel grabber for consistency and reliability

• We integrated the pixel mechanism with other robot components, including the hanging mechanism and drone launcher

• We conducted extensive testing and driving practice to ensure the pixel grabber worked well in competition scenarios

• We completed the pixel mechanism and deemed it ready for the upcoming qualifier

Throughout this final period, we focused on optimizing the pixel grabber's performance, making it lighter, more stable, and more reliable. We addressed various issues through iterative testing and refinement. The team balanced improvements to the pixel mechanism with work on other robot components, ensuring all systems worked together effectively. By the end of this period, the pixel grabber was considered complete and ready for competition use.