Soccer Hardware

The mechanics that hold everything together.

IMG_3242

Jan Ole Weber

Lead
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Patrick Ebbighausen

Dribbler
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Lukas Waldhoff

Dribbler
IMG_3209

Timo de Vries

Kicker
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Fabrice Zeug

CAD

Discover our new Bot!

The mechanics

The mechanics team is responsible for making the robot work.

The most important components of the robot are the kicking system, dribbler and drivetrain. All components are designed to work together to shoot a golf ball, receive passes and move around the field.

Kicking System

We aim for low friction in all moving parts, in order to drive efficiency.

Another goal of the design-process ist to balance the mass of the kicking-plunger and the mass of the golf ball and to choose the right materials, so that minimal energy is dissipated during the mechanical energytransfer.

At the moment there are still uncertainties concerning the EMF-radiation, which will be subject of investigation when the kicking device is finished. A shielding may be required.

To make things a little more complicated, a compact formfactor is needed, as space is rare and we want to add a second kicking-device for chipping in the future.

Dribbler

As the name suggests, the Dribbler provides ball control and enables the robot to move backwards without losing the ball.

But how exactly do you keep control of a ball, you are not allowed to hold?

The idea here is to influence the ball by spinning it like in table tennis. For this purpose, a rubberized shaft that is in direct contact with the ball is set in rotation by a drone motor. In this way, the Dribbler spins the ball towards the robot.

In addition, the special shape of the rubberized shaft ensures that the ball is centered. So the kicker hits it in the same position everytime. In summary the accuracy of the shot and the ball control is significantly affected by the Dribbler.

Drivetrain

The drivetrain consists of a BLDC motor on whose shaft the omni wheel is directly mounted. With four of these drive trains, the robot is able to move in all directions and rotate around its own axis. The BLDC motors, which are controlled by the ESC controllers developed in-house, deliver up to 65W per tire. The robot is thus very agile and can react quickly to new situations. 

The omni wheels are self-built and will be milled from aluminum on our 5-axis CNC milling machine in the future.