2025

2025 Robot

Designed and built 18” × 18” × 18” robots for scoring, descoring, and expansion challenges in High Stakes. Each robot featured a 6-motor, 8-wheel drive system, optimized for stability and 7.1 ft/s. Integrated a pneumatic clamp system for mobile goal placement, a precision intake for ring collection. Incorporated 50+ custom components, including CNC-machined plates, laser-cut sheets, and custom gearboxes. The robot was organized into 3 main systems: chassis, clamp, and intake. All motors and electronic components were consolidated into a single structural frame for efficiency and durability.

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(24-25)Perrybotics Engineering Notebook (v2).pdf

Chassis Design:

The robot was designed holistically, with all subsystems developed in parallel after establishing clear design requirements: it had to score, descore, and climb obstacles. From this, it was clear the chassis needed to be robust, lightweight, and agile. Initial 2D geometry was created in Onshape to map out the base layout, including motor positioning for the drivetrain, intake, and clamp. The structure was built from ½” × 1” aluminum channel and assembled using gussets and rivets. The drivetrain featured eight omni-wheels driven through a 3:4 gear ratio to maintain full drive power even if wheels lifted. The robot could climb 3” obstacles. All forces were routed into the main chassis tubing, protecting the shafts from stresses.

Intake Design:

The intake was designed using 2D geometry sketches to define the ring path and guide it directly into the mobile goal. It uses a 1-degree-of-freedom arm, with the linkage actuated by pneumatic pistons—a separate motor powers both intake rollers through a chain routed along the pitch axis to eliminate slack. The linkage is made from ½” × ½” aluminum channel and covered with a Polyoxymethylene skirt to prevent entanglement.

Manufacturing:

Robots were prototyped using a Prusa X1C to precisely print PLA components for early testing. Structural elements such as C-channel and gears were fabricated using a table saw, and a Dremel Laser to cut Polyoxymethylene components for the final iteration, while all key tolerances and fits were controlled in CAD to ensure proper alignment. Iteration and testing guided material choices, and the final design balanced strength, weight, and manufacturability within competition specifications.

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