Project Documentation

Theoretical Simulation and Prototyping of a Double-Flywheel Variable-Angle Ball Shooter

Saratoga MSET 649, March 2021

Covers the design and prototyping process for a ball shooter, beginning with a calculus and physics based trajectory simulator for launch modeling, as well as analysis of the dynamics of flywheel mechanisms. The work presented in this document was crucial for the final system design. (10 pages)

2019 Robot "Sea Devil" Technical binder

Saratoga MSET 649, March 2019

Our 2019 robot for the Deep Space FIRST Challenge included six main subsystems: The drivetrain, intake, hatch, climb, carriage, and lift. This challenge was unique in that it included two major game elemtns which robots had to pick and place from various different locations. Strategy was important, and we focused on developing our in-game and overall robot design strategy in this binder. (8 pages)

2020 Offseason Swerve Drive Module Mechanical Design 

Saratoga MSET 649, November 2020

The rationale behind design decisions for a swerve drive module design. We desire a drivetrain with high traction and high maneuverability, which we plan to achieve through a controlled caster mechanism that allows the rotation of a wheel direction and rotation. (9 pages)

WestCoast Control-Optimized Drivetrain Design for 2021 IR@H Challenges

Saratoga MSET 649, March 2021

In-depth detailed explanations of how we designed the drivetrain for the 2021 infinite recharge at home challenges. Covers the basic dynamics of traction in mobile robots, and how we utilized various combinations of wheel types to optimize between traction and turning control. (5 pages)

Final Double-Flywheel Variable-Angle Shooter Design and Assembly

Saratoga MSET 649, May 2021

In-depth detailed explanations of how we designed the drivetrain for the 2021 infinite recharge at home challenges. Covers the basic dynamics of traction in mobile robots, and how we utilized various combinations of wheel types to optimize between traction and turning control. (5 pages)

2020 KLA+ Foundation Engineering Excellence Award Submission

Saratoga MSET 649, 2020

The 2020 season was challenging, and required robots to be agile and versatile. We implemented a large arm in our robot that spanned the length of the base, and tilted to under 24 inches from 48 inches. We used this to navigate under strategic barriers, and to reach over opponents in launching targets.