Sneak preview of some of the apparatus appearing in Salvador ...
Raymond Sheh
Hi All!
I've been putting together some of the apparatus for the sensor
tests and wanted to give you a bit of a preview. While I won't be
able to join you all in Salvador, I'll be sending these
apparatuses with some colleagues who are going from NIST.
I just want to emphasize that while some my implementation is a
bit complicated, all of these apparatuses can be built very simply
for your own testing ... the more involved versions I'm showing
here are optimized for durability and to look good in photos. You
don't need to build these versions to be compliant with the
construction guide!
First, the omni keypad apparatus. Those of you who joined us in
Sydney would remember seeing 3D printed housings screwed to wooden
bases ... I've extended this to a 3D printed frame and also been
testing out the multi-material unit (MMU):
To reduce the probability of the robot tripping over the cable,
I've integrated the hub into the base of the apparatus.
Of course, this test apparatus is equivalent to even the simplest
apparatus you could build (5 keypads glued to an underframe made
of wood or any other sufficiently solid material).
Second, you might recall the previous discussion regarding the
proximity test evolving into identifying the orientation of three
20-25mm diameter disk magnets, arranged with centers 50 mm apart,
against a black background. This can be very simply implemented by
gluing or taping three magnets to a piece of black paper, card,
plastic, etc. ... for RoboCup I've put together a 3D printed
assembly with an insert that can be swapped out and an outer
holder that can be screwed into the rest of the apparatus. A thin
tool (e.g., the end of a hex key) can be used to push the magnets
out of the insert to vary them as well.
The STL files are available at https://rrl-rmrc.org if anyone
wants to download these.
I'm sure you're all busy doing last minute tests and refinements
of your robots. We would love to see pictures of your test
environments so we can all have a bit of a glimpse into how you do
your development! Feel free to make your own posts or reply to
this thread.
Cheers!
- Raymond
-- https://raymondsheh.org