FIRST Robotics 2023 Season

As Team Captain, Lead Builder, and Robot Operator for FRC Team 1391 (The Metal Moose) during the 2023 season (CHARGED UP), I led our team through designing and building a highly competitive robot that showcased innovation in game piece manipulation and scoring capabilities. The robot featured both cube and cone handling mechanisms, with my primary focus being on the development of our multi-stage arm system and intake mechanisms. Our team's success was highlighted by multiple competition awards and consistent high performance.

Key Mechanical Systems Developed

Gripper Mechanism

  • Designed through multiple prototyping iterations (V1-V4)

  • Implemented dual-purpose gripper for both cones and cubes

  • Added pressure-sensitive gripping for variable game pieces

  • Integrated sensors for automated control

  • Achieved consistent piece acquisition and placement

Two-Rotation Point Arm

  • Engineered optimized weight distribution

  • Developed chain-driven joint system

  • Implemented precise position control

  • Created collision avoidance systems

  • Enabled multiple scoring configurations

Drive System

  • Implemented swerve drive for enhanced maneuverability

  • Optimized chassis dimensions (27" x 27")

  • Designed custom electronics mounting solutions

  • Created steel electronics board for improved weight distribution

  • Achieved stability up to 80-degree tilt

Intake System

  • Led development through 7 major design iterations

  • Engineered over-the-bumper intake for extended 12-inch reach

  • Designed virtual four-bar mechanism for compact storage

  • Implemented active intake system with motorized wheels and belts

  • Created automatic intake retraction system for collision protection

  • Optimized for both cone and cube game pieces

  • Incorporated sensors for automated piece detection

  • Added spring-assisted deployment with constant force springs

  • Achieved reliable game piece acquisition at various robot speeds

  • Integrated seamlessly with robot's scoring mechanisms

Competition Results & Awards

  • Bensalem District Event Champion

  • District Event Finalist

  • Autonomous Award sponsored by Ford

    • Recognized for advanced autonomous capabilities and consistent performance

  • Excellence in Engineering Award

    • Highlighting innovative design solutions and technical execution

  • Quality Award

    • Acknowledging robust design and manufacturing excellence

Key Features:

  • Wide capture range for forgiving piece acquisition

  • Compact storage within frame perimeter

  • Self-protecting collision response

  • Polycarbonate construction for durability and light weight

  • Independent operation capability

  • Quick-swap maintenance design

  • Automated control integration