2014 – The Mammoth
The Mammoth was designed to play Aerial Assist, FIRST’s game for the 2014 FRC competition. Check out our teaser video above.
THE MAMMOTH 2014
DRIVE TRAIN
- 28” square base with 6 AndyMark 6” high-grip wheels
- Two 3-CIM toughboxes (powered by 2 CIMS per side)
- 10.5 ft/s single-speed transmission
INTAKE MECHANISM
- Pneumatic-actuated with gravity driven lift (for easy low-goal scoring)
- VexPro high grip wheels for instant contact and traction
- Intakes ball directly into awaiting tusks
- Wheels positioned to support ideal curvature of the ball
BALL ELEVATOR AKA “THE TUSKS”
- Designed to conform to the ball (for catching from the truss and HP)
- Mounted on custom clockwork axle which enables shooting both forward and backward
- Pneumatic-actuated, disk brake system designed to stop tusks at ideal shooting height (for greatest range)
- Mounted on same pivot point as swing arm for consistent ball launching from various distances
- Maintains ball control under lateral force
WEIGHTED SWINGING ARM MECHANISM
- Fully-actuated arm allows for close-range truss shot and “super shot”(shooting the ball in excess of 30 ft.)
- Fixed-angle shot with variable exit velocity, enables shooting range from 5-15 feet away
- Can also shoot (backward) into the high goal anywhere from 1-3 feet away
- Supports “light kick” for low goal shots and gentle passing
- Mounted on same pivot point as the tusks to create fully-integrated system for consistent shooting
PROGRAMMING & CONTROL SYSTEM
- Uses camera and custom dashboard to recognize target and regulate exit velocity for optimized shot to target
- Backswing angle measured using encoder, height of the tusks measured using linear potentiometer
- All image processing/calculations performed on driver station with final targeting data returned directly to robot
AWARDS
- Xerox Creativity Award at Mid-Atlantic Robotics FRC Region Championship
- Engineering Excellence Award at MAR FIRST Robotics Bridgewater-Raritan District Competition