LAGOS DE MORENO, JALISCO,

MEXICO
Binnacle From Work
ROBOTS NAME: TACOSAURUS.
MEMBERS:
JORGE ULLOA
OLIVER ZAMBRANO
KARYME ANDRADE
KALEP GARCIA
MARIAJOS CABRERA
CONTENT

Team ...................................................................3
The Competition ..................................................4
Structure Subsystem ...........................................6
Sketches .............................................................6
Virtual Design ......................................................7
Blueprints8
Building...9
Programming.10-13
Programining Skill .............................................14
Game Strategy ..................................................15
Driver skill .........................................................16
Competencies ..............................................17-18
Presentations...19
TEAM
The school added a subject called robotics, in which the whole school participates,
but not all go to competition and create robots instead, that only those who stood out
with the protobot.

Each of us has a very important role in the team and we work together because each
one puts his or her bit..

Profiles:
KARYME ANDRADE:
She is in charge of working with Oliver to do the virtual design.
She goes to violin lessons and plays classical music. His favorite
activities are drawing and reading.

MARIAJOS CABRERA:
She joined the team since the project began.
She logs and builds the robot with Kalep.
She goes to bat classes.

JORGE ULLOA:
Admission to the team since the start of the project
He is the captain and programmer of the team.
He goes to Taekwondo classes

KALEP GARCIA:
He is builder and driver
He plays soccer in the afternoon.

OLIVER ZAMBRANO:
He is a designer
He plays the guitar in the evenings
His favorite activities are dancing and singing
The competition:
Crossover is played on a 4x8 rectangular field configured as seen above. Two robots compete
in the Teamwork Challenge as an alliance in 60 second long teamwork matches, working
collaboratively to score points. Teams also compete in two additional challenges; The Robot
Skills Challenge where one robot takes the field to score as many points as possible under driver
control; The Programming Skills Challenge where one robot scores as many points as possible
autonomously, without any driver inputs.

The object of the game is to attain the highest score by Scoring Hexballs in their coloredcoloured
Scoring Zone and Goals, and by Parking and Balancing Robots on the Bridge.

The Details:
There are a total of twenty-eight (28) Hexballs available as scoring objects in the game. There
are two (2) Scoring Zones, sixteen (16) Low Goals, twelve (12) Elevated Goals, and one (1)
Bridge on the field.

Scoring:
Each Hexball Scored in the Scoring Zone 1 point

Each Hexball Scored in the Low Goal 3 points

Each Hexball Scored in the Elevated Goal 5 points

Having One Robot Parked on the Bridge 5 points

Having Two Robots Parked on the Bridge 15 points

Having All Robots Parked on a Balanced Bridge 25 points

 Subsystem
Structure Subsystem

Part Description / Use

Shafts Serves to transfer motion through the motors
Collars Used to support other parts in a fixed place
or also to support axes in axial position
Spacers Use to make space between one piece and
another
Pins Use to connect one piece to another
Bars They serve to connect one piece with
another at a certain distance
Beams They serve to form the robot
T and Angle Beams Used to connect parts using pins
4 x 12 plate Suitable for connecting several pieces
Angle Joints Serve to connect 2 pieces at a time
Bar Connectors Used to connect rods and pins

Motion subsystem

Part Description / Use

Engines Are programmed to generate power that
causes the parts to move
Cable extensions Allows connection of motors and sensors
Knot or wheel wheel For the robot to be able to move
Gears Used to transmit power and movement of a
motor to a component

Power subsystem

Part Description / Use

Robot battery charger Used only to charge the batteries
Power cord Used to adapt the charger to a
traditional connector
Stacks Serves to run the robot

Subsystem of sensors

Part Description / Use

Touch switch Led To call the self-employed
Ultrasonic Used to detect the distance between the robot
and some flat element
Gyroscope It is used to know the turns that the robot gives

Logical subsystem
Part Description / Use
Programming cable It is a USB cable that allows to
download programs of the PS to the
brain of the robot
VEX IQ Brain Coordinates the flow of information and
power of the robot
VEX joystick For robot remote control
Radio Installs
Virtual Design

Building
First prototype
21 September 2016

Through several phases they selected the best teams to attend the tournament.
We got together to take programming, design and how the tournament was going to
be this season. We also realized unicel stars and marbles to simulate the originals
and to be able to practice.

28/ September /2016

We started to present their ideas, some said to take other tweezers that were like a
ramp, until we came to the conclusion that we would make a robot with a small
chassis and a ramp with dredge up that would grab 2 stars easily and 3 stars with
difficulty.

05/October/2016
We started with the chassis that is the base of the robot, we used 2 x 16 beams and
in the system of gears we put a crazy gear since we only wanted to transmit the
speed of the engine / rim to the other rim. We also used 2 unidirectional and 2 regular
tires as we did not have enough.
10/October/2016
Since there were not enough pieces we had several complications since what we
wanted to achieve was that the chassis was small, but equally resistant to weight
and so on. Until I stay as we wanted.

17/Octubre/2016
We started to make the ramp this was a bit tricky to do because of the lack of
material. We use dredgers, 2 x 20 beams, sprockets, pins, shafts and collars. We
placed a base on the ramp, left enough space for 3 stars and the brain or cortex was
located in the center of the chassis.

Until the day of the 1st tournament arrives ...

9/November/2016
We came back from the tournament with new ideas, but since the next tournament was very
soon we did not have enough time and we decided to reinforce the chassis so that I could climb
the ramp.

16/November/2016
The ramp was extended so that it would get 4 stars and there were problems since there
was not enough dredge so we went through the shaft and motor later so that the dredges
we had reached reach the gear. Also by careless the design was erased and we had to start
from scratch, days before the tournament.

Until the day of the 2nd tournament

arrives ...
Second prototype
23/November/2016
We decided it was time to change robots, so we proposed several ideas.

In this prototype we rely on a forklift as it grabs things and stores them until it leaves
them in the desired place.
30/November/2016
We started with the chassis, we used 2 x 20 beams, we also used 5 gears to turn to
the same direction and we used 2 unidirectional and 2 regular wheels because the
problem was that there were no sufisientes.

25/January/2017
We began to make the lateral parts of the robot, we tried to make them like grille,
leaving some spaces between one beam and another. We also added several
blades with different functions, the first type of blades we did so that it grabbed the
blades and passed them To the other blades, the second type of blades we made
so that at the time of grabbing the stars place them at the top and the last type of
blades serves to store 4 stars and place them in the middle and lower part of the
tower , These are buffed with beams of 1 x 10, 2 x 20, etc. We also use bars of
different sizes, gears and many pins.

We continued building for several days until the day of the tournament.

22/February/2017
We improve the sides of the robot making them like a wall with beams of different
sizes and lots of pins, also based on how a mason makes a wall.
01/March/2017
We started to improve all the blades since we had beams of 1 x 10 and it was
necessary to change it for beams of 2 x 10, for this there were no complications
since it was very easy.
05/April/2017
We started to work on mistakes like the rear blades because they get stuck and did
not throw the 4 stars as it was supposed to be for this we tried several options: the
first was to put a stop using paddles to the center of each of the blades, but The
stars above did not fall as we wanted and caused the blade to get stuck, so we
resorted to the second option was to change the angle making the top come before
the bottom but was too fragile, so the Stars were falling before.

12/April/2017
As the second option did not work we turned to the third, we put the blade back
straight and only added beams to the sides to give way to where the star should go.
 Engineering notebook

(Mathematical data)

Second prototype
Long
V.P = Displacement V. P = 41.50

Weather

A. P = Speed change A. P = 6.98

Time interval

Width

V.P = Displacement V. P = 36.50

Weather

A. P = Speed change A. P = 10.70

Time interval

Displacement

Circumference = 10.21

Revolutions per minute = 127

Revolutions per second = 2.11

Distance traveled in one minute = 1296.67

Speed: 21.54

Gear ratio

Odd = Same address

Par = Counter-Direction

Gear train
Engine and tire Tire
Game strategy

Strategy 1:
First they throw the 4 stars of the fence, then collect the 4 stars of the
fence that the alliance passes us, we put them in the tower and we
climbed to the plate and we tried to balance ourselves.

Strategy 2:
We collect the 6 stars of our tower, cross the plate and place the 6 stars
in the opposite tower and to finish we balance in the iron.

Strategy 1

Strategy 2
Driver skill
They threw stars from the fence, grabbed 6 stars from the tower, crossed and
placed them and ended up climbing the ramp with a total of 14 points.

Now in our presentation in the world will be the 2nd game strategy presented
above.
Competitions
Regional
5/November/2016
We went to Altamira school, in Zapopan, we had the 1st prototype
At the beginning of the competition we did well, we had a problem since the robot
did not raise the iron because there was a beam that prevented it, we tried to solve
it, but we had to disarm a large part of the robot and it was impossible in the
competition. For this reason we had to find a way to make more points without going
to the plate
In the end we did well, we won the design trophy and we were in 3rd place.

Regional
19/November/2016
We went to the high school in Zapopan, we had the 1st prototype, but improved.
We noticed an error which was that the dredger was stuck to grab the 4th star and
we could not solve it because there was very little time and there were not enough
pieces, this time we did not do as well as we had the problem of Dredge and we
were in 6th place.
Prenational

18/February/2017
We went to the Altamira school in Zapopan, we had the second prototype.
When starting the tournament we created several strategies until we found the best,
there was no problem with the robot.
We went to the final and we were 3 points away from being tournament champions.

National
7-8/March/2017
We went to the Polytechnic University of San Luis Potos, with the second prototype,
but improved.
On the 1st day did not do very well because we did not make many points, I came
to the case that we were the last of the list, we also had a problem as the gears of
the upper blades were separated, but we solve by placing more pins.
The next day the first match went badly, but thanks to that added more match we
recovered until arriving at second place.
In the final we made the highest score that led us to be tournament champions.
Presentations

-Radio
They invited us to talk about our experiences, so we went, they asked
us what was vex ?, how long did the robot last ?, what if it was difficult
?, what was our experience? And how was the competition?

-Televisin
We exposed the robot, talked about the competition and asked
questions like how long did the robot last? What if it was difficult? How
was our experience? And how did we become interested in robotics?

-Presidency
We introduced the robot to the president, he told us that if we could talk
about competition so we did that, we explained about the competition
and experiences.