During the development of the robot, likewise in the process of finding a name for it, we always proceeded with a healthy portion of humour. This is how the wordplay EnteB (pronounced in German) came about, which contains the name of our school.
The most important components of the EnteB will be described in detail here. Additionally, the complete course of the game will be explained. In the following video you will find all the functions the EnteB needs to get over the mountain.
- Motors and encoder
- Photodiode OPT 101
- Permanent magnets
- Printed circuit board
|Used material:||aluminium, steel|
Three identical motors are being used for the robot’s movement. The motors consist of four main components. The encoder, the gearbox and the dc-motor were sponsored threefold by the company “Faulhaber”.
Encoder: The encoder allows accurate positioning by counting the number of rotations performed by the motor. You will find the datasheet here.
Gearbox: With a translation ratio of 1:100, the epicyclic gearing ensures the necessary torque. You will find the datasheet here.
Motor: 12V dc-motor. You will find the datasheet here.
Winch: The cable is coiled onto the cable winch.
|Current Power:||10 Watt|
|Output Torque:||1 Nm|
|Output Rate of Rotation:||30 min-1|
|Total Length:||110 mm|
The linear servomotor is needed to retract and drive out the coupling plate. The linear servomotor was sponsored by NTB. For more information, you will find the datasheet here.
|Extension length:||50 mm|
|Force on pull/pressure:||60 N|
Turnigy nano-tech battery
Photodiode OPT 101
Printed circuit board
Step 1: Approaching position, where
the search begins (Image 1)
After the robot is placed and the ropes are tightened by the team, the robot approaches a defined, saved position, from where it can begin the search for the platform where it should land. It reaches this by winding up the ropes on two sides. The position lies centred on the half of the field on which the robot will be, around 20 cm above ground.
Step 2: Platform search (Image 2)
If step 1 is completed successfully, the robot begins its search. By means of two photodiodes it can localise the position of the platform, if the platform is located on the same side of the field. In order to do this, the robot approaches the six possible platform positions and detects the intensity of light at each position. At the position where the intensity is the highest, thats where the platform is located. This position is then saved and the search result is transmitted via WiFi to the partner robot.
Step 3: Approaching the coupling position & coupling with the partner robot (Image 3)
When the search process is completed, the robot goes to the arranged coupling position. As soon as both robots are at the coupling position, they extend their coupling plates. The robots connect with the permanent magnets, which are on the plates. The connection is verified through the triggering of the pressure sensor on the plate. Now both robots retract their plates at the same time and the robot that doesn’t have the platform on its side of the field unwinds all three ropes. The robots are now amongst themselves and are ready for landing.
Step 4: Landing (Image 4&5)
The stored position from step 2 will now be approached horizontally. As soon as the robots are above the platform, they land together and the game has successfully been completed.