2019 Destination: Deep Space

FIRST Destination: Deep Space is the 2019 FRC game. It involves two alliances of three teams each, with each team controlling a robot and performing specific tasks on a field to score points. The game centers around an outer space theme involving two alliances consisting of three teams each competing to place poly-carbonate hatch covers and orange rubber balls or "cargo" on rockets and cargo ships before returning to their HAB platform to climb at the end of the match.


Our 2019 Robot, Space Audity

Quick Facts

  • NAME: Space Audity

  • TEAM CAPTAINS: Aedan Henry, Mike Violette, Sophia Mularoni

  • RECORD:

History

  • Mount Vernon: Semifinalists, Entrepreneurship Award

  • Yakima SunDome: Semifinalists

  • Auburn: Quarterfinalists, Industrial Design Award

  • PNW District Championship: Quarterfinalists

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Robot Features

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  • Hatch panel and cargo delivery to all locations

  • Climbing to all three levels with front and rear “spider” climber

  • Autonomous modes for hatch panel delivery

  • Floor pickup of cargo

  • 6-wheel differential drivetrain powered by 6 mini-CIMs

  • Custom 3-mini-CIM gearbox that can mount to a standard AndyMark Kitbot frame using 5 inch omni-wheels and Colson wheels instead of the standard HiGrip wheels

  • Custom 5-bar linkage for end effector movement

  • 2-stage elevator

  • Vision-based alignment

  • Semi-automated models for alignment during teleop period

  • 13 motors and 7 pneumatic actuators

  • Sensors: cameras, rotational encoders, limit switches

  • On-board indicator lights

  • Multi-function end effector, including:

    • Part 1 –Pneumatically actuated wrist motion with 4 specific orientations

    • Part 2 –Roller intake for floor and loading station cargo pickup and delivery

    • Part 3–Integrated hatch panel alignment mechanism, gripping and release mechanism

  • Belt-driven 2-stage, cascading elevator

  • PID drive control with cross-coupling feedback and PID brake

  • Dual camera vision system for retro-reflective targets and cargo detection and alignment


The 2019 Team

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