Aiming Mechanism
Our design incorporates full yaw and partial pitch control for aiming independent of the boat's position with respect to the goal, as well as partial roll control to compensate for and potential disturbances from waves. The entire mechanism sits on a large turntable, giving yaw control, powered by a geared motor. Roll and pitch are controlled with a differential to lower the centre of mass and moment of intertia. Mounting points for additional sensors and camera for aiming are available for future use.
Ball Shooter Mechanism
Our design is tennis ball shooter inspired, using horizontal flywheels to accelerate the ball forwards when they make contact. The balls are fed into the flywheels by a crank and slider mechanism for reliable indexing. The balls are loaded by a gravity fed hopper to the crank and slider.
3D CAD Designs
We built multiple CAD designs for our mounts and systems deployed on the BlueBoat and ASV including full system design, camera and LIDAR mounts.
