Overview
Our second boat, Crusader, features a catamaran configuration with a flat-bottom hull, which is ideally suited for shallow-water navigation, thereby optimizing stability and maneuverability. With a focus on cost-effectiveness, we reused materials from previous competitions, including spare wood and high-density foam. Once we formed our hull, fiberglass was added with resin and finished with paint to waterproof the hull(s).
Crusader
Barco Polo
Crusader Hull
A scaled CAD model of the hulls was first exported to guide fabrication of the wooden foam core structures. These cores were shaped and refined using an orbital sander to achieve a smooth and consistent hull profile, after which gaps and surface imperfections were filled using TotalFair. Fiberglass cloth was then cut to size with feathered edges to ensure proper overlap and bonding. Two additional layers of fiberglass were applied to increase structural strength, and the laminate was allowed to cure under ultraviolet light. Once cured, excess fiber was trimmed, and a final layer of TotalFair was applied to both hulls to smooth the surface and prepare for finalization. The hulls were then left to be painted and cured. The final assembly included mounting the T200 thrusters, installing the 80/20 aluminum frame, and securing the electrical enclosure to complete the hull structure.
Water Cannon
By collaborating with other RoboBoat teams, we decided on procuring an off-the-shelf water pump from Amazon which would extract water from the lake at the competition venue. Coupled with a nozzle to accelerate the water, we are able to perform the Water Delivery task 2 feet away from the Orange Vessels.
Racquetball Launcher
Leveraging past experience from land vehicle competitions the team decided to implement a puncher mechanism. A DC motor powers the driving gear, which contains only 3 teeth. The gear compresses the spring by drawing back the rack on the punching rod. As the drive gear continues the rotation, the rack slips and the punching rod launches the racquet ball towards the Black Vessels.
Thruster Guards
From our previous experiences in RoboSub and RobotX, our team has realized the importance of thruster mounts and shrouds. These mounts act as a mechanical fuse failing before the injection molded case of the T200 thrusters in the event of harsh impact.
