KY Starter Bot Build Images and Coding Instructions from YouTube Videos Acknowledgements Brentwood Academy (BA) gratefully acknowledges the work and generosity of the University of Kentucky (UK) Engineering, KY Project Lead the Way, Doug Klein and all those who contributed the to the concepts, design, and coding of a VEX robot that is both buildable for new students and encourages them to go to their first tournament. References: VEX In The Zone Kentucky Starter Bot - https://www.youtube.com/watch?v=sqmc-k4t1rs Coding the VEX In The Zone Kentucky Starter Bot - https://www.youtube.com/watch?v=rvwzhifp0io Additional references for use of limit switches to control arm range of motion: VEX StarStruck Kentucky StarterBot Assembly by UK Engineering - https://www.youtube.com/watch?v=uruaoa9codi 2016 Kentucky Starter Bot Coding https://www.youtube.com/watch?v=uqiq_uolz1g Starter Bot Parts Needed: The parts needed to build the KY Starter Bot are provided in the VEX Classroom and Competition Starter Kits BA Clawbot and KY Starter Bot Tournament Goals 1. The tournament is intended for new students doing competitive robotics for the first time. 2. The tournament is limited to match play only. There will be no skills matches or any judged awards. 3. Students can compete with pre-designed robots limited to the VEX Clawbot or the KY In The Zone Starter Bot. 4. A completed Starter Bot will be available at the Inspection table as both a reference for the Inspectors and for clarification of modifications by teams. 5. For questions about modifications, email AskRefZea@gmail.com BA Clawbot and KY Starter Bot Tournament Acceptable Robots 1. VEX EDR Clawbot - either pre-v5 or V5 2. VEX KY In The Zone Starter Bot BA Clawbot and KY Starter Bot Tournament Acceptable Robot Modifications to the KY Starter Bot 1. Reliability focused modifications such as: a. Adding bearings, shaft collars or spacers b. Using high strength gears c. Adding sensors to limit arm and gripper range of motion (limit switches or potentiometers) 2. Turning Point Challenge modifications such as: a. Move the cross brace on the base further back to allow the 6-bar arm to go lower toward the field tiles. b. Mount the tower between the angle braces to both stiffen the tower assembly and lower the gripper to be closer to the field tiles. c. Add angle gussets to the end of the gripper arms to help hold the cap on the gripper while driving and lifting. 3. V5 components in place of the pre-v5 parts (brain, motors, battery, controller) BA Clawbot and KY Starter Bot Tournament Unacceptable Robot Modifications 1. Adding additional motors or servos beyond the 7 used in the KY In The Zone Starter Bot 2. Adding additional wheels beyond 4 3. Adding advanced sensors such as: a. V5 vision sensor b. Sonar, gyro, accelerometer sensors, line trackers c. Encoders Integrated Motor Encoder or Quadrature Encoder 1
Figure 1 Keps versus Nyloc nuts Keps nuts are easier for new builders during assembly and modification activities since they can be finger tightened to hold parts in place. Many teams may replace the Keps nuts with Nyloc nuts after they have all parts in place. Figure 2 Figure 3 2
Figure 4 The original position of the cross brace is shown close to the front wheels. This works for picking up cones for the In The Zone challenge but it will not allow picking up a cap in Turning Point. Move the cross bar back toward the midpoint of the base to allow the arm to drop lower toward the field tile. This lets the gripper reach under the cap. Figure 5 See above comment. Figure 6 Consider placing the 1x5x25 c-channel on the base of the 2x2 angle instead of on top of a side. This creates a much stiffer tower. 3
Figure 7 Build as shown with consideration of Figure 6 comment. Figure 8 Figure 6 comment addresses this issue. Figure 9 4
Figure 10 Figure 11 Build as shown or use Figure 6 comment. Consider attaching tower to base as the next step instead of attaching the tower/arm assembly. See Figure 41 for mounting points and fasteners. 5
Figure 12 Alternatively, you can switch to high strength gears to make the arm gears less prone to slipping or stripping of gear teeth. See Figure 14 comments regarding bending the chassis tab back to clear the gear teeth consider using additional spacers between the linear track and the gear to eliminate the need to bend the chassis tab to not interfere with the gear teeth. Figure 13 Figure 14 Alternatively use more spacers as described in Figure 12. 6
Figure 15 Figure 16 Figure 17 7
Figure 18 Figure 19 Figure 20 8
Figure 21 Add rubber bands using standoffs or spacers mounted with screws to avoid edges that can damage rubber bands. Figure 22 Build as shown or with high strength gears. Adjust the collars and spacers to align the gears so they clear the lower arm bar. Figure 23 Build as shown or with high strength gears. Adjust the collars and spacers to align the gears so they clear the lower arm bar. 9
Figure 24 Figure 25 Build as shown or with high strength gears. Adjust the collars and spacers to align the gears so they clear the lower arm bar. Figure 26 Build as shown or with high strength gears and your selected spacers and collars. 10
Figure 27 Figure 28 Figure 29 11
Figure 30 Figure 31 Figure 32 Alternatively, use high strength gears. 12
Figure 33 Alternatively, if using high strength gears you will not need the gripper center piece since high strength gears are designed for direct screw mounting. If using high strength gears you will need to adjust the spacers for the difference in height for high strength gears. Also, consider using a double layer of the gripper bar to make it stiffer. Add additional screws and nuts to lock the two bars together. Figure 34 Alternatively, use high strength gear. Figure 35 5 Alternatively, if using high strength gear adjust spacers. 13
Figure 36 Figure 37 Figure 38 14
Figure 39 Figure 40 Alternatively, use shorter double thickness gripper bar and angle gusset. Figure 41 Alternatively, not needed since the tower was mounted to the base in Figure 11. 15