2015 Zebruh

Zebruh, our 2015 robot, has proven to be an incredible engineering challenge. At the center of our robot is a 72″ linear slide and claw system, providing a wide range of extension from 3″ off the ground to 75″ at the highest limit. The elevator-style pulley system is powered by a two CIM gearbox, with a spool 3D printed by our sponsor, Stratasys. The spool effectively lifts, holds, and lowers the elevator cable via a position-controlled PID loop. The claw is designed with hooks that, within two seconds, will grab two totes at the same time and raise both totes to complete a tower of up to five totes. The claw can also top a stack of five totes with a round “recycling” container. For a highly maneuverable drivetrain, a 6-wheeled Omni-drive was utilized with 4 wheels driving forward and in reverse. The remaining wheels are mounted perpendicular to the others, and between the front and back wheels respectively, to provide lateral movement without compromising the ability to traverse the scoring platform.

Game:

RECYCLE RUSH is a recycling-themed game played by two Alliances of three robots each. Robots score points by stacking totes on scoring platforms, capping those stacks with recycling containers, and properly disposing of pool noodles, representing litter. In keeping with the recycling theme of the game, all game pieces used are reusable or recyclable by teams in their home locations or by FIRST® at the end of the season. Each Alliance competes on their respective 26 ft. by 27 ft. side of the playing field. Each match begins with a 15-second Autonomous Period in which robots operate independently of their drivers. During this period, robots attempt to earn points by moving themselves, their yellow totes, and their recycling containers into the area between the scoring platforms, called the Auto Zone. During the remaining two minutes and 15 seconds of the match, called the Teleop Period, robots are controlled remotely by student drivers located behind the walls at the ends of the field. Teams on an Alliance work together to place as many totes on their white scoring platforms as possible. Alliances earn additional points for recycling containers placed on the scored totes, with containers at greater height earning more points. Alliances also earn points for disposing of their litter in their Landfill Zone near the center of the field, or placing litter in or on scored recycling containers. Alliances that leave litter unprocessed on their side of the field at the end of the match, not in scoring position, will add points to the score of the other Alliance. Alliances have an opportunity to earn Coopertition® points by coordinating with the other Alliance in the match. Coopertition points are awarded if, at some point in the match, there are at least four yellow totes on the step simultaneously. Coopertition points are doubled if the Alliances arrange at least four of those yellow totes in a single stack on the step.