Our robot “Picasso” has five modules: The drivetrain with slide, the intake, the outtake, the hanger, and the drone launcher. The size is 14 inches wide, 15 inches long, and 11 inches tall, which can travel through the gate and the trusses with ease. Our robot uses 2 meters of chains, 3 odometry pods, 7 servos, 8 motors, 8 linear slides, 13 compliance wheels, 20 sprockets, 48 bearings, and weights 31 lbs.

The drivetrain is fully customized so that it can mount linear slides in 60 degrees. It has three loony odometry pods for our auto. The drivetrain is sturdy, fast, and compact serving as the base for our robot.

Our design goal for our intake is: touch a pixel, own the pixel. We achieve this by designing an active intake using surgical tubing wheels powered by a high-speed motor and placing the wheels at the right place. We encountered a problem where the ramp edge can prevent pixels from going inside. We solved this problem by adding a dustpan edge. The ramp is auto-adjustable so that it always touches the floor to minimize the gap.

For outtake, we want to be able to make mosaics. We use compliance wheels to control where and how many pixels to be deposited. Notably, our outtake can pivot automatically, so, when it contacts the backdrop, it avoids knocking down the scored pixels during teleop and helps during auto because it allows error. The outtake is lifted up/down through the linear slides.

For hanger, we have 2 servos that rotate 2 compliance wheels which raise 2 tape measures with 3D printed parts holding the hooks. We use a high torque motor to tighten the rope to pull our robot up. The hanger is very reliable.