Transcript halloween-ppt-template-009

ROBOT ARM
2017 Rules
Rachel Mason
End task:
• Move 10 Lincoln Pennies onto
a Target.
• Includes the combined scores
of two runs of one robot.
• Documentation is also part of
the score.
Event Parameters
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No impound.
Up to two student competitors.
10 minutes for the total time.
Device must fit in 25cm x 25cm x 100cm box
Supervisor provides:
• 10 Lincoln pennies
• Competition area
• The supervisor’s time is the official time.
Students must:
• Wear eye protection.
• Their robot that is hard wired (no plugging
into the wall socket) and remote control
device.
• Place in the ready to run position.
• Provide documentation of at least 10 runs.
Construction Rules
• 25 cm x 25 cm x 100 cm in ready to run position
• 14.4 V battery
• Remote control box (wired, IR, R/C, pneumatic,
etc.)
• Contact with the competition board must be by
gravity only.
• Hard wired!! There were issues with this last
year.
• Only commercial batteries, not exceeding 14.4
volts as labeled, may be used to energize each of
the Device's electrical circuits.
• Multiple batteries may be connected in series or
parallel as long as the expected voltage output
across any two points does not exceed 14.4 volts
as calculated using their labeled voltage.
• Teams must be able to show the Event
Supervisors (ES) the labeled voltage
What is NOT allowed
• Lead-acid batteries are not allowed.
Laptops/tablets not connected to a wall
outlet may be used to control
• The Device and their internal voltage does
not need to be checked.
Documentation
• Illustrations should show:
– All motors/actuators
– All energy sources
– Controls used to interact with the device.
• Operating Description:
– How their robot will move the pennies.
• Written Log
– At least 10 runs of their robot
– Record at least 3 parameters including:
• Score, time, and any additional parameters
Competition
• The supervisor selects 6 components from the
competitors documentation
– Students point them out on the device and there
is a penalty for every component incorrectly
identified.
– 2 minutes preparation time and test prior to each
of 2 official runs of their robot.
– 3 minute run time for each official run.
– This adds up to the total of 10 min.
Competition Area-provided by the
Event Supervisor
• Playing field is 70 cm x 70 cm
– Measured from the inside edge of
tape approximately 2.5 cm wide.
• Robot arm sits in a 25 cm x 25 cm
square inside and centered on the
southern edge of the playing field
• An archery target is centered in
the playing field. With the center
of the target 22 cm from the
northern edge of the device
square.
Competition Area Part 2
• Move pennies from the
playing field onto the archery
target
– 5 stacks of 10 pennies all
placed heads up
• A stack of pennies is tangent
to the target in each of the 4
sides
– The 5th stack of pennies is
placed in the southwest corner
of the playing field
Scoring
• Pennies earn points by:
– Location on the Target
– Lying completely flat
– Not being under or over another penny
– Double points for Tails-ups
• Additional 10 points for All parts of the Arm &
Base are within the vertical space above the
Device Square at end of each run.
• Sum of two runs is the team score.
Construction notes
• Different types of robot arms
• Based on degrees of freedom (rotation
points)
• Two major types useful for SO
–Fully articulated, hemispherical
–Crane type
Bonus Scoring
• Bonus: Teams receive 10 Bonus Points if all
parts of the Arm(s) and optional Base are
within the vertical space above the Device
Square at the end of the run.
• Final Score = Run Score x Penalty
Multiplier(s)
Penalties
• For each item incorrectly identified in 6.a. a
Penalty Multiplier of 0.98 will be assessed.
(Max 6 times)
• For Incomplete Technical Documentation a
Penalty Multiplier of 0.95 will be assessed.
• For no Technical Documentation a Penalty
Multiplier of 0.80 will be assessed.
Ties:
• Ties are broken by
– 1) Best non-scored run
– 2) Shortest Run Time of best single run
– 3) Shortest Run
• Time of non-scored run.
Tiers:
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Tiers:
Tier 1: Devices that meet all requirements.
Tier 2: Devices with only Competition violations.
Tier 3: Devices with any Construction violations
or both Competition and Construction violations.
• Participation Points only: Devices that violate the
frequency rules; that have no capability, by
design or construction, to score points via moving
pennies; or are unable to compete.
Resources:
• In the rules: Recommended Resources: All
resources including the Robot Arm DVD (RAD)
are available on the Official Science Olympiad
Store or Website at http://www.soinc.org
• You-Tube videos: see gold medal winner from
Harriton HS
• Your local University engineers
• Parents/members of the community
• scioly.org/wiki/index.php/Robot_Arm
Hemispherical/Articulated
Articulated
•A robot with at least 3 rotary joints.
•Traditional “arm”
•Limited ground reach.
Crane
• Parrallel axis-joints
– Each joint is lined up with all the other joints.
– More ground reach than an articulated
End Effector
• The part of the robot that will move the pennies.
• 4 categories
1. Impactive – jaws, claws, grasps.
2. Ingressive – pins/needles (penetrates the item)
3. Astrictive – Suction force
4. Contigutive – direct contact for adhesion
General Tip
• Read the rules
• KISS
• Do not over/design engineer
General tips
• Central joint is CRITICAL
• Must support the entire arm, strongest point in arm
• Weight at end of arm also important
• Giant lever, mass at end of arm is multiplied force on central
joint
• Stiffness everywhere
• Servos are better than motors
– More expensive
– Stronger
– More precise
Thank you for attending!