🦄
Loading Robot CAD
0%
Technical Portfolio
Scroll for more
01 / Mobility
Drivetrain
MK4i Swerve Modules
›L2 gear ratio (15.5 ft/s)
›SDS 4"D × 1.5"W Billet Wheel with Black Neoprene tread
›Kraken x60s for drive and Kraken x44s steering
Chassis
›26.5" × 26.5" frame
›Bellypan for easy electrical access
›Tapped steel plates for mounting
Bumpers
›5 segments for easy removal, 1 side with split bumper for climbing
›1/2" HDPE backing
›Layered foam to absorb impacts
02 / Scoring
Shooter
The Shooter accurately propels 3 balls into the hub at a time.
Drum
›2 Kraken x60 geared 12:18 to prevent deceleration
›4" steel drum to increase the MOI when it has contact with the fuel
›Drum is covered in cats tongue for grip
›1/8" polycarbonate hood to prevent collision with hopper balls
Kicker Rollers
›4 deadaxle rollers to carry fuel to shooter
›Single x44 on belt system
›Serializes the fuel, creating a downward force that propels hopper balls in while shooting is occurring
03 / Storage
Hopper
The Hopper is an expandable serializer and storage unit serving as a pathway between the Intake and the Shooter.
Hopper Rollers
›6 lightweight deadaxle rollers connected through a belt and pulley system powered by a Kraken x44 motor
›Zip ties and silicone tubing added to deadaxle rollers to encourage ball movement towards the kicker rollers
Expandable Hopper
›Two 1/16" polycarbonate plates on each side with 2 slots each to facilitate outward movement
›Bent rim design on the plates to keep fuel inside of the Hopper
›Polycarbonate plates connected to intake to stabilize walls and allow outward movement to run in parallel between the expanding Hopper walls and Intake
04 / Game Piece Acquisition
Intake
The Intake is a touch-it-own-it rack and pinion design that dominates the field, stealing fuel from other alliances and forcing the fuel into the Hopper.
Rack and Pinion
›A 1/4" and a 3/16" polycarbonate rack plate bolted together and mounted against a pinion to allow the intake plates to extend outside of frame perimeter
›Rack and pinion design allows intake to move in a singular plane, limiting risk of cracked plates due to downwards force
Rollers and Axle
›Two rollers and a hex axle
›Bottom roller grabs the fuel, sending them into the Hopper
›Top roller cycles the fuel within Hopper towards the Shooter, creating space for new fuel to enter the Hopper
›A hex axle (tensioned to Intake with silicone tubing) drops down and rests between bumper and ground, increasing contact between fuel and the secondary roller
05 / Endgame
Climber
The Climber functions on an elevator that serves as the backbone for the shooter, pulling the robot up as the elevator comes down.
Elevator
›L1 climb
›2 constant force springs pulling up on the carriage, resetting it on a hardstop
›2 steel hooks (steel prevents warping over time due to robot weight)
›Extension of hooks is servo controlled due to the lack of needed movement
›Dyneema rope is used to tension the hooks
Team 3128 · Aluminum Narwhals
Software
Controls
Driver controls, autonomous routines, and software architecture.
Documentation
View Our Process
Priority Lists, Technical Requirements, Robot Dashboard
Outreach
Learn About Our Team
Community involvement, mentorship, and team culture.