The manipulator team figures out how to deal with the field elements - how to pick up and deliver objects to their scoring conditions, and how to interact with any items on the field.
The Bloom features a spinning plate with three pivot points that control petals which insert into the center of the hatch. As the plate rotates, the petals “bloom” to secure the hatch to the robot. When the hatch is in position to be released, the process reverses and the petals contract to “secure” the hatch to the cargo bay.
The Bloom was 3D printed using PLA filiament on MakerBot Replicators. The Thingiverse project for the Bloom can be accessed through the below link.
The Bloom is mounted on a two-stage elevator that extends the roobt’s reach to place hatches on the side of the rocket at all three elevations. The elevator features a belt and pulley system that enables it to expand from its starting configuration of _____ to a full height of _______.
The elevator is constructed with fiberglass C-channel and reinforced by aluminum tubing stays.
In the end-game, Arp deploys two “Booster” feet to lift its rear while the elevator extends an extra appendage to pull up its front. The Boosters are created from fiberglass angle and 3D Printed rack. Bag motors drive a 3D Printed pinion with a 25:1 gear ratio. The Thingiverse project for the rack and pinion system is available at the link below.
Utilizing pneumatic pistons, the elevator deploys an outrigger that supports the front of the robot and helps to pull the Arp up onto the highest platform of the Hab.