Meet GAEA – Grabbing Actuated Elevator Automaton:
Spec Sheet: GAEA – 4915
Spartronics | Bainbridge Island
Dimensions: 28 in. x 32 in. x 75 in.
Weight: 117.2 lbs (Inspected)
Drive train: 4-wheel, 6” diameter Mecanum
Motor controllers: 5, 1 for each wheel + 1 for winch
Pneumatics: 4 tanks with 2 single solenoids – partially open, open and closed
Gear ratio for the winch: ~70 to 1
Gear ratio for Mecanum: 10.7 to 1
Arm mechanism: Elevator and pneumatic grabber
Game play:
– Can carry up to 4 totes with mobility
– Can carry up to 3 totes and a container with mobility, 5th Level
– Can pick up totes from the chute (preferred)
– Can pick up totes (wide and long) and move to landfill
- Can pick up sideways containers
- We can load litter from chute, but not push on field
Coopertition:
– We can stack the three yellow totes and move to the step
Human Player:
- Toss noodles past the opponent’s landfill
- Master stacker
- Rules master
Elevator:
- The Elevator Mechanism has a high-powered winch that feeds a steel cable through a pulley in order to lift our Grabbing Mechanism
Innovative Grabbing Mechanism/Arm:
– GAEA can move its two arms with a single pneumatic cylinder
Autonomous – 5 options:
- Move
- Grab a recycling container and move to auto zone
- Grab and move a tote to auto zone
- Stack a recycling container on a tote and move both to auto zone
- Remains stationery – Positioned for Teleop
Programming
- Used Java
- We have a command-based system
- Iterative vs. simple