{"id":7112,"date":"2020-02-15T22:00:52","date_gmt":"2020-02-15T21:00:52","guid":{"rendered":"https:\/\/robolyon.com\/?p=7112"},"modified":"2022-04-02T18:06:14","modified_gmt":"2022-04-02T16:06:14","slug":"the-birth-of-a-robot","status":"publish","type":"post","link":"https:\/\/robolyon.com\/index.php\/2020\/02\/15\/the-birth-of-a-robot\/","title":{"rendered":"The birth of a robot"},"content":{"rendered":"<div class=\"smart_content_wrapper\">\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/robolyon.com\/wp-content\/uploads\/2020\/07\/P1010378-1024x768.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>With the removal of the stop build day we have much less build time than other teams.<\/p>\n\n\n\n<p>We participate in the regional of Los Angeles in week 2 but we have to send the robot 2 weeks before.<\/p>\n\n\n\n<p>So we have to build the robot in 5 weeks instead of 8.<\/p>\n\n\n\n<p>To prepare everyone, we made a white kick-off two weeks before the real kick-off. The steps were well mastered on D-day:<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Watch the video<\/li><\/ul>\n\n\n\n<ul class=\"wp-block-list\"><li>Analysis of the specifications in small groups<\/li><\/ul>\n\n\n\n<ul class=\"wp-block-list\"><li>Prioritization of the season&rsquo;s objectives<\/li><\/ul>\n\n\n\n<p style=\"font-size:29px\"><strong>Prioritizing our 2020 objectives<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\"><li>Throwing balls in the outer port, then in the inner port<\/li><li>Collecting balls on the field<\/li><li>Store 5 bales at the same time<\/li><li>Hanging on to the \u00ab\u00a0Sheild generator\u00a0\u00bb.<\/li><li>To be able to pass under the tunnel<\/li><li>Handling the control panel (course 1 and course 2)<\/li><\/ol>\n\n\n\n<p style=\"font-size:29px\"><strong>La conception des m\u00e9canismes<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\"><li>Throwing balls in the outer port, then in the inner port<\/li><\/ol>\n\n\n\n<p>This objective follows an iteration process: one seeks to throw a ball, then to throw it into the bottom port, then into the outer port, then into the inner port.<\/p>\n\n\n\n<p class=\"has-text-align-center\"><strong><span style=\"text-decoration: underline\" class=\"underline\">Shooter<\/span><\/strong><\/p>\n\n\n\n<p>We immediately turned to a shooter with an inertia wheel.<\/p>\n\n\n\n<p>One of its advantages is that the ball flies by turning on itself: the trajectory is therefore more precise.<\/p>\n\n\n\n<p>The axis is powered by two 775 Pro engines.<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"#Robo&#039;Lyon - 2020 Build season - shooter 1\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/QyBdRgjB1_Q?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p class=\"has-text-align-center\"><strong><span style=\"text-decoration: underline\" class=\"underline\">Removable shutter<\/span><\/strong><\/p>\n\n\n\n<p>It is motorized by a bag. It has been added to control the angle of fire.<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"#Robo&#039;Lyon - 2020 Build season - shooter 2\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/zJm35XQ0jRg?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p><strong><span style=\"text-decoration: underline\" class=\"underline\">Turret<\/span><\/strong><\/p>\n\n\n\n<p>It is also motorized by a bag.<\/p>\n\n\n\n<p>The two mobile plates rotate on either side of the stationary plate thanks to bearings placed inside.<\/p>\n\n\n\n<p>A transmission chain drives these two plates.<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"#Robo&#039;Lyon - 2020 Build season - turret\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/guNzyPuuzm4?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"#Robo&#039;Lyon - 2020 Build season - motorized turret\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/5rM0D3YSr9c?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>1: Pick up the balls on the field<\/p>\n\n\n\n<p class=\"has-text-align-center\"><strong><span style=\"text-decoration: underline\" class=\"underline\">Intake<\/span><\/strong><\/p>\n\n\n\n<p>We prototyped the first intake with two rows of red AndyMark 2&Prime; wheels driven by a 775 Pro engine.<\/p>\n\n\n\n<p>We had to do many tests to find the right distance to the bumpers.<\/p>\n\n\n\n<p>As no mechanism should protrude from the peripheral frame before the start of the match, a retractable intake is required.<\/p>\n\n\n\n<p>So we decided to rotate it using a jack.<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"#Robo&#039;Lyon - 2020 Build season - intake\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/h2JQtxbHSM0?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>Unfortunately the first tests were not conclusive: too much pressure + points of weakness on the intake arms = huge <\/p>\n\n\n\n<p>Unfortunately the first tests were not conclusive: too much pressure + points of weakness on the intake arms = huge failure.<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"#Robo&#039;Lyon - 2020 Build season - retractable intake 1\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/FWETTcwuwUU?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>After a lot of tests on the placement of the jacks and a reinforcement of the arms, we managed to rotate the intake.<\/p>\n\n\n\n<p>On the 1st video Juliane helps her a little\u2026 But we limited her stroke afterwards and everything went better\u2026<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"#Robo&#039;Lyon - 2020 Build season - retractable intake 2\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/aurJ3z0gfo8?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"Retractable intake\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/6_hwfiYMixQ?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>3 : Store 5 balls at the same time<\/p>\n\n\n\n<p class=\"has-text-align-center\"><strong><span style=\"text-decoration: underline\" class=\"underline\">Conveyor<\/span><\/strong><\/p>\n\n\n\n<p>We prototyped a conveyor with a belt system on the outside and rollers on the inside to guide the bale.<\/p>\n\n\n\n<p>Prototype 1: The bales were well driven by the belts, but they could not stop when the conveyor was full (they kept going in and crashed at the bottom).<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"#Robo&#039;Lyon- 2020 Build season - conveyor 1\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/7sh9ne8sGg8?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>Prototype 2: The belts were replaced by fabric and moved inside.<\/p>\n\n\n\n<p>The rollers were moved outside.<\/p>\n\n\n\n<p>But the conveyor took up too much space on the robot and did not allow to store enough bales.<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"#Robo&#039;Lyon- 2020 Build season - conveyor 2\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/2xT6xRloBmY?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>We are currently working on a version 3 which will be much simpler: the balls are routed to the shooter thanks to a slight slope.<br>It has a triangular shape that allows only one ball to pass at a time.<br>A wheel placed on the side brings the balls one by one into the feeder.<\/p>\n\n\n\n<p class=\"has-text-align-center\"><strong><span style=\"text-decoration: underline\" class=\"underline\">Feeder<\/span><\/strong><\/p>\n\n\n\n<p>He catches the balls sideways and takes them up into the turret.<\/p>\n\n\n\n<p>The fact that the two rows of wheels rotate in different directions allows the bale to climb up without rotating.<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"#Robo&#039;Lyon-2020 Build season - feeder\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/bdgXxO1b5v4?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"#Robo&#039;Lyon- 2020 Build season - feeder turret shooter\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/-2Oh-A_OlpY?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>4: hang on to the \u00ab\u00a0Shield generator\u00a0\u00bb<\/p>\n\n\n\n<p>To mount a hook, we have prototyped a telescopic arm and a system of crossbars.<\/p>\n\n\n\n<p>We retained the arm because it is more compact.<\/p>\n\n\n\n<p>It brings the hook on the bar and then it goes down and the robot goes up thanks to a winch.<\/p>\n\n\n\n<p class=\"has-text-align-center\"><strong><span style=\"text-decoration: underline\" class=\"underline\">Telescopic arm<\/span><\/strong><\/p>\n\n\n\n<p>The telescopic arm rises thanks to a system of cascading ropes.<\/p>\n\n\n\n<p>We prototyped it with four metal profiles of different widths, but we had problems with the friction of the wire against the profiles.<\/p>\n\n\n\n<p>Also when it was unfolded, the arm tilted because of the gaps between the profiles.<\/p>\n\n\n\n<p>So we printed 3D parts to guide the wire and to fill the gap between the profiles.<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"Bras t\u00e9lescopique\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/gscM_Y8v_04?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p class=\"has-text-align-center\"><strong><span style=\"text-decoration: underline\" class=\"underline\">Hook<\/span><\/strong><\/p>\n\n\n\n<p>The hook has two sides to facilitate the pilot&rsquo;s work, it can be positioned on either side of the scale.<\/p>\n\n\n\n<p>Both ends bend when placed on the bar to limit the height of the arm on the robot (and not exceed 70 cm).<\/p>\n\n\n\n<p>This also makes positioning on the bar easier because the horizontal surface is larger.<\/p>\n\n\n\n<p class=\"has-text-align-center\"><strong><span style=\"text-decoration: underline\" class=\"underline\">Winch<\/span><\/strong><\/p>\n\n\n\n<p>&nbsp;Four ropes start from the hook and wrap around the winch.<\/p>\n\n\n\n<p>It rotates with two sims and a reduction of about 37.<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"#Robo&#039;Lyon - 2020 Build season - winch\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/WJkYLUY0h-8?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"#Robo&#039;Lyon-2020 Build season - climber test\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/KuX5fEroRFA?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p class=\"has-text-align-center\"><strong><span style=\"text-decoration: underline\" class=\"underline\">Hook on the robot<\/span><\/strong><\/p>\n\n\n\n<p>We chose to hang the ropes at the four corners of the robot so that it is stable during its ascent (important not to exceed 30cm from the peripheral frame).<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"#Robo&#039;Lyon-2020 Build season - climber stabilisation\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/b_DTkqh1cDg?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"#Robo&#039;Lyon- 2020 Build season - climber1\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/l9YuPAXIPyw?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>5 : To be able to pass under the tunnel<\/p>\n\n\n\n<p>Despite the positioning of this target in 5th position, we believe that going under the trench can make a decisive difference in speed.<\/p>\n\n\n\n<p>We therefore chose to design the robot within the 70cm height limit.<\/p>\n\n\n\n<p>6 : manipulate the control panel (level 1 and level 2)<\/p>\n\n\n\n<p>The control panel manipulator is composed of an axis around which 4 wheels of 2&Prime; are attached.<\/p>\n\n\n\n<p>The axis rotates thanks to a bag motor.<\/p>\n\n\n\n<p>The control panel manipulator is retracted and unfolded by means of a servo-motor.<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"Control Panel Manipulator Prototype\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/FKK2mG4qD2s?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n<\/div>","protected":false},"excerpt":{"rendered":"<p>This year the priority is to be efficient and fast. We have only 5 weeks before the departure of our robot to Los Angeles.<\/p>\n","protected":false},"author":1,"featured_media":212,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[86,96,106],"tags":[243],"class_list":["post-7112","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-news","category-seasonandrobot","category-season2020","tag-apprentissage-en"],"jetpack_featured_media_url":"https:\/\/robolyon.com\/wp-content\/uploads\/2020\/07\/P1010378-scaled.jpg","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/posts\/7112","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/comments?post=7112"}],"version-history":[{"count":5,"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/posts\/7112\/revisions"}],"predecessor-version":[{"id":14582,"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/posts\/7112\/revisions\/14582"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/media\/212"}],"wp:attachment":[{"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/media?parent=7112"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/categories?post=7112"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/tags?post=7112"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}