Intake OmnisTags: Mechanical and Think
Task: Add omnidirectional wheels to intake arm
We need to add omniwheels to the intake arm to allow the arm to rest on the ground, while still maintaining the necessary height for collecting the minerals. If the height is too low, the minerals wouldn't be able to move through the intake. If the intake was too high, it wouldn't be able to grip onto the minerals and pull them through. We decided to use omnidirectional wheels as they would allow us to drive forward and backwards with the arm extended.Our first challenge was finding space on the intake arm to attach the wheels. We had a few options:
- Attach the wheels parallel to the arm To do this, we would have to have a "u" shaped component, which we could mount off of a threaded extrusion, then attach that to the servo mount.
- Mount the wheel perpendicular to the arm This would give the same degree of maneuverability. To attach this, we would have to use an elbow bracket and attach that to an extrusion at a 90° angle.
Image of wheel attached to intake arm
Our next steps are to perform testing on the wheels to determine if they are durable and low enough, and improve the performance of the robot. One issue that may arise is rubbing against the gears, as they may shift over prolonged usage, along with twisting of the extrusion.