INTAKE DESIGN
Intake Design
"The first step to building a good robot is an effective intake."
Given the wide variety in geometry and physical properties of game elements across different seasons, teams need clear criteria when designing an intake. Below are key points compiled from forums and documentation like Game Manual 0 and Chief Delphi:
1. 1. DURABILITY
When designing, assume that the robot will undergo heavy testing, compete in numerous matches, and experience frequent collisions.
Intakes feature many moving parts spinning at high RPMs, and because they must protrude outward, they are more susceptible to impacts. Therefore, intake materials must be durable enough to withstand long operational hours, and the structure must be sturdy to handle external forces.
To achieve this, there are two primary approaches:
- Rigid Structure: Build the intake extremely sturdy with plenty of reinforcing structural elements.
- Flexibility: Build a flexible intake, such as using high-elasticity wheels or floating/compliant shafts.
2. 2. CONSISTENCY
The Golden Rule: "Touch it, own it."
The intake must be able to collect game elements consistently, quickly, and in the exact quantity allowed by the rules.
If multiple game elements can be gathered at once, the intake should have a wide, versatile intake sweep capable of grabbing objects from any position and orientation.
- Another Rule for Consistency: If the game element is "soft," the intake should be "rigid"—and vice versa.For example, during a season where game elements are relatively rigid and cannot be easily compressed, teams often choose intakes using rubber bands, rubber wheels, or compliant shafts (where "soft" can also mean high mechanical compliance).
3. 3. CONTROL
The intake must be able to control game elements consistently.
- Appropriate Speed: If the intake spins too fast while the storage bin isn't well-designed, game elements can bounce right back out. Conversely, if the intake is too slow, it can jam upon contact with an object. Another rule of thumb for intake speed: it should always be faster than the robot's movement speed (typically recommended to be twice as fast).
- Clearing Jams: Game elements can jam in hard-to-reach corners, especially with wheel-type intakes. If this happens, ensure the driver can easily clear the jam to prevent the robot from becoming disabled.
- Visibility: Drivers need to see the game elements being collected inside. This can be accomplished by using transparent materials like acrylic, polycarbonate, etc.
4. 4. EFFICIENCY
The key to any successful robot is a fast scoring cycle time. A good intake system should take no more than a few seconds to successfully collect the necessary game elements.
- Crucial Rule:"How do you move a game element from point A to point B in the shortest distance possible?"The answer is usually one or two straight lines. The closer the game element follows this path, the faster the transition from collection to scoring. Avoid overly complex routing paths unless strictly necessary.