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ajlapp
01-24-2003, 08:53 PM
A decent shot of Francois in our shop. The drivetrain is there minus gears, and the first stage of our arm system is mounted to the chassis. The third part of the puzzle is a basket with roller chain hooks for creating and indexing stacks.

end result----------->

two wheel swerve drivetrain running on one drill motor each

stacking arm with 3 dof
joint one powered by two chip motors
joint two powered by one van door
joint three(translation joint) powered by one fisher price

total of six boxes under robot control and the ability to stack those on possibly a stack of three or four

all of this also goes under the bar

if we had more we'd show.....hopefully everyone else joins in the fun, can't wait to see what everyone else comes up with.

Anthony
Lead Design Team 221 --> 857 Superior Roboworks

Clark Gilbert
01-24-2003, 08:59 PM
Looks cool, seems like a tote stacker that can go under the bar will be very helpful in this years game.

One question...Those omni-wheels look very similar to the ones that Ed Sparks posted on his site.

http://www.firstcadlibrary.com/images/Omni%20Wheel.gif

Any connection?

OneAngryDaisy
01-24-2003, 09:04 PM
good job guys- one question- yoiur drivetrain/swerve wheels seem a little large, will you start with part of your robot folded up?

Rob Colatutto
01-24-2003, 09:07 PM
not bad at all for a second year team. very interesting design, hope to see a lot of strange things this year. one question though, how long do you think it'll take you to get under the barrier, the move moving parts you have the longer its going to take you

Solace
01-24-2003, 09:07 PM
yeah, and what exactly do you mean by "swivel"? do the aluminum casters actually rotate? or does the chassis bend in the middle?

looks good though

Andy Baker
01-24-2003, 10:25 PM
Originally posted by Nataku
not bad at all for a second year team.

Yeah, right... the core of this team has been in FIRST for about 7-8 years. These guys at Michigan Tech (Anthony, Justin, Adam, etc.) are some of the best robot builders in FIRST. They had one of the coolest drivetrains last year (the kiwi drive), and have been in the top 4 at the Championships before.

We can all learn a thing or two from team 857. From what I heard, they really didn't want to be rookies last year, but it was an administrative decision to do so.

Andy B.

Rickertsen2
01-24-2003, 10:36 PM
Looks awesome!! just one question though. Didn't FIRST say that gas shocks are illegal. I thouhg that first said that they were "custom pnumatics".

Sachiel7
01-25-2003, 01:19 AM
Looks Good Guys :)
Keep up the good work...
You know, I've been keeping an eye on plenty of teams, and many are building stackers this year.
I think our's is the smallest yet...
Our entire bot is:
35.5" (wide) by 27" (long) by 14" (tall)

Our mechanism take up a total space of:
23"(wide) by 4"(long) by 14" (tall)

And we can stack up to 2 bin's heights
:rolleyes:
Try to figure this one out...

Solace
01-26-2003, 09:37 PM
[QUOTE]Originally posted by Sachiel7
Looks Good Guys :)
Keep up the good work...
You know, I've been keeping an eye on plenty of teams, and many are building stackers this year.
I think our's is the smallest yet...
Our entire bot is:
35.5" (wide) by 27" (long) by 14" (tall)

Our mechanism take up a total space of:
23"(wide) by 4"(long) by 14" (tall)

And we can stack up to 2 bin's heights
:rolleyes:
Try to figure this one out... [/QUOT

our bot is 35" wide byt 29" long by 14" tall (gotta get under that bar)

mechanism starts upright but can lay down to go under bar

THEORETICALLY stacks as high as you want, but anything over 6 or 7 is kinda pushing it

oh yeah, and it carries the stack around with it.

Sachiel7
01-26-2003, 09:40 PM
Yeah, our size is becoming more like that, but our stacker is in it's main stacking position (i.e., it doesn't need to lay down) and it can stack and carry as much as needed. Also, It's more like 5ft. tall extended now...

DanLevin247
01-26-2003, 10:15 PM
My team ( 247 ) has a stacker of it's own, it also goes under the bar too.

Adam Krajewski
01-27-2003, 02:12 AM
: Those omni-wheels look very similar to the ones that Ed Sparks posted on his site.

They look (almost?) identical to me. We got our's from McMaster-Carr under the name Acetal Multidirectional Dual Skate Wheel (http://www.mcmaster.com/catalog/109/html/1075.html).

: yoiur drivetrain/swerve wheels seem a little large

We're approximately 36" x 25" in terms of drivetrain, so no problems there.

: not bad at all for a second year team.

As Andy Baker said, we begrudgingly took a new number in order to ensure the team's continuation as an officially sponsored part of Michigan Tech.

I myself am in my 6th year in FIRST. 1998 - 2000 on team 68 as a student, 2001 on 221 and 02-?? on team 857 as an engineer/college student (as all of our 'engineers' are college students).

The video of our protoype kiwi drivetrain can be found
here (http://stuweb.ee.mtu.edu/~alkrajew/FIRST/kiwi.mpg).

: what exactly do you mean by "swivel"?

The "swivel" is the 90 degrees of rotation in either direction of the drive wheels, allowing side-to-side motion. This will (hopefully) be done by some fancy, yet simple software or even hardware (if I remember my digital signal processing).

*Edited to fix typo.

Adam

adamoneDB04
01-27-2003, 06:07 PM
What is the robots main purpose in the competition?

Solace
01-27-2003, 09:19 PM
Originally posted by Adam Krajewski
: Those omni-wheels look very similar to the ones that Ed Sparks posted on his site.

They look (almost?) identical to me. We got our's from McMaster-Carr under the name Acetal Multidirectional Dual Skate Wheel (http://www.mcmaster.com/catalog/109/html/1075.html).

: yoiur drivetrain/swerve wheels seem a little large

We're approximately 36" x 25" in terms of drivetrain, so no problems there.

: not bad at all for a second year team.

As Andy Baker said, we begrudgingly took a new number in order to ensure the team's continuation as an officially sponsored part of Michigan Tech.

I myself am in my 6th year in FIRST. 1998 - 2000 on team 68 as a student, 2001 on 221 and 02-?? on team 857 as an engineer/college student (as all of our 'engineers' are college students).

The video or our protoype kiwi drivetrain can be found
here (http://stuweb.ee.mtu.edu/~alkrajew/FIRST/kiwi.mpg).

: what exactly do you mean by "swivel"?

The "swivel" is the 90 degrees of rotation in either direction of the drive wheels, allowing side-to-side motion. This will (hopefully) be done by some fancy, yet simple software or even hardware (if I remember my digital signal processing).

Adam

that movie shows what is far the coolest drive train idea i've ever seen. looks like it could be a bit hard to control though...
is that the drive train you plan on using in this year's robot?

Ianworld
01-27-2003, 09:30 PM
Well in theory still(it hasn't all been finished yet) we should have a 9 foot arm for stacking boxes boxes(with 3 degrees of motion and then the grabber), a partial vector drive(4 motor vector, 2 drive, 2 steer 2 wheels each) and wings(that could extened from 1.5-2.25 feet, we aren't sure yet on how wide we want to be). All of this should fit under the bar and we have an internal cavity the size of a box. So far so good. (i doubt we will finish early though.)