Team Photo

Test Setup

12/4/14

Jeremy's candid photo shot

12/4/14 Testing

Mary tosses Angry Bird at ROCA. Wit hthe white wall and white tarp, the contrast makes object tracking easier for the cameras.

12/4/14

Isaac works on IK Solver code. Photo credit: Wilson

12/4/15

Wilson and Jeremy arrive at Sibley early to work on ROCA. Photo credit: Wilson

The Siege Continues...

The team gathers again at Sibley to test ROCA. Isaac is throwing a ball out-of-frame. Photo credit: Mary

12/3/14

Leslie on standby as testing continues

12/3/14

Wilson takes a microtorch to the forearm motor during repairs

Siege of Sibley

Isaac, Wilson, and Jeremy work hard to get the code to work

Leslie tossing a ball at ROCA

Angry Bird

Angry Bird will be assisting the team as a projectile object : )

Hesse Hall Testing Setup

Wilson prepares for image processing testing at the ME102b lab in Hesse Hall.

11/21/14

IK Solver solutions graph. Red are valid solutions

Spur Gear System

The motor-shaft pulley system was replaced with a 2:1 spur gear system in order to reduce unnecessary torque and friction

11/17/14

Circular end effector CAD drawing

11/17/14

Bear paw end effector to be used at expo. Designed by Mary.

11/14/14

Mary's PID implementation sketch

11/22/14

ROCA profile shot

ROCA's Sticker Collection

Bevel Gear Assembly Close-up

Photo credit: Wilson

Pulley System Close-up

(Outdated assembly, but look at that wire organization!) Photo credits: Wilson

Servo Mount and Spacer Close-up

Photo credit: Wilson

11/7/14

PCBs have arrived!

11/8/14

PCB fabricated by Wilson

11/8/14

PCB fabrication improvisation: footprint not big enough? Solder wires

11/5/14

Wilson hard at work assembling as much of the robot as possible

11/7/14

ROCA profile shot without end effector

11/6/14

More parts machined

11/6/14

Machining continues... AME mount

11/5/14

Added slot to servo mount spacer to contain the servo wires

11/5/14

Making changes to to the servo motor mount to account for side wires of the servo

Printed Circuit Board

Designed by Wilson Tang, this customized PCB controls the motors, encoders, and sensors of ROCA.

Bevel Gears

A brushed motor drives a 2:1 bevel gear system that moves the forearm.

11/5/14

Gear housing close-up

End Effector Bottom View

The end effector's bottom is solid and bolts into a servo motor bracket system. The holes sizes shown are M8x1.25 and M2x0.4. Designed by GrabCAD user ipeezy, modified by Mary Lee.

Home Sensor

Servo Motor Mount Assembly

A Delrin mount designed and manufactured by Leslie Leung secures the servo motor responsible for the twisting motion of the lacrosse head about the z-axis. A Delrin spacer designed by Payton Gordon centers the lacrosse head with respect to the forearm.

ROCA Base Assembly

The power supply, boost converter heat sink, PCB, stepper motor, and stepper motor gears are shown. They are encased in a steel housing.

Pulley Assembly