Murphy - (FRC 2025 ReefScape)

What?

How?

Results

Robot designed for FRC Reefscape, Alpha Bot (image) acted as a simple but effective scoring two stage scoring proto-bot with low CG
Final Bot utilized a three stage coral scoring end effector instead of two stage
Developed multiple designs to test different strategies,
- - one prioritizing speed fast cycles but lowered opportunity to score while the other had higher scoring opportunities with slower cycles

Two primary subsystems were created in order to score the two different elements: algae low and 3 stages of coral on the reef
Tools used include Onshape, 3D-printing, and CNC machining for rapid prototyping and final manufacturing

Developed speedy cycle-times for Alpha Bot by leveraging swerve drives ability to rotate 360 while moving along a straight axis to collect coral
- - - Low CG maintained balance at High RPM movement
Enabled 3-stage scoring in Final Bot through redesign of mechanical linkage and end-effector in order to remove the need to rotate 360 degrees to cycle, decreasing cycle time while increasing reef scoring ability

Final Bot

This seasons game, Reefscape, was made up of 2 primary game components: the coral, a white PVC pipe; and the Algae, a big rubber ball. This Robot had 2 primary end effectors, the Coral end-effector which would score on the first 3 stages of the reef, varying in height and angle of placement depending on the corresponding position. While the Algae end-effector would drop down and collect an Algae, which would then be scored through either a compression underhand serve into the goal, or an overhand server into the goal.

Alpha BOt

The primary project I worked on throughout this season was the secondary end-effector, the Algae intake (Left images). I coordinated a small team in the designing, prototyping, programming, and manufacturing the end-effector. The end-effector was on a pivot which was connected to a sprocket and chain to allow for the motor, which is quite a heavy component, to be more centered allowing for a more centered CG. The intake was motorized using a belt and pulley, motorizing the front row of wheels via the motorized shaft. The ball would be taken in and be moved against the free spinning roller (white roller) and then be held via compression until it needed to be released, in which the motors would reverse.

20250211_205439_1.mp4

Score Cycle

We only had a tested cycle time for the alpha bot because the final bot was finalized the day before our final competition

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