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  #16   Spotlight this post!  
Unread 05-20-2012, 11:15 PM
Robogineer1649's Avatar
Robogineer1649 Robogineer1649 is offline
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AKA: Adam Molnar
FRC #1649 (E.M.S.)
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Quote:
Originally Posted by MIT_MAN View Post
Our wheelies were incredibly consistent with lowering the bridge... even in autonomous
I loved your wheelies they where really cool to watch on Einstein but I have a question for you. Did you guys build your robot knowing it would be able to do wheelies to push down the bridge or was that something you found out after building it? I was wondering this for a long time and my bet is on you found this out after building the robot.
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Unread 05-21-2012, 11:27 AM
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Aidan S. Aidan S. is offline
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FRC #0610 (The Coyotes)
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Re: Bridge Manipulator

Team 610 used two arms that were driven by a bane bots 775 motor, which allowed us to vary the position of our manipulator. We would push the bridge down with our arms, and then use them as a wedge to drive up on the bridge.

One major pro of our manipulator was that we were able to use it to help us with many other aspects of the game. We also used it as a wedge to cross the barrier with, an arm to scoop balls out of the corner, a stinger for triple balancing, and we could use them to tip the bridge to the other side of the field to help our partners get on the bridge.
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Thanks to all the great alliance partners through the years: 67, 188 x4, 191 x2, 488, 469, 578, 842, 862, 1212, 1241, 1305, 1310 x2, 1325, 1334, 1511, 1535, 1477, 1559 x2, 2122, 2168, 3161, 3360, 3396, 3476, 3609, 3756, 4124

Last edited by Aidan S. : 05-21-2012 at 11:45 AM.
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Unread 05-21-2012, 01:03 PM
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Dan 1038 Dan 1038 is offline
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AKA: Dan Stauft
FRC #4740 (Spartan Robotics)
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Re: Bridge Manipulator

We initially used two arms driven by window motors, but found out in week 1 that that was not going to fly due to the increased weight of the bridges vs. our practice bridge. Prior to Queen City we re-engineered the arms to be driven by a single AndyMark PG71 gearmotor (from the kit) using a 45/20 gearset (am-0129) as a reduction. The arms were mounted on hex shaft, the design was bulletproof!
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  #19   Spotlight this post!  
Unread 05-21-2012, 01:09 PM
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billbo911 billbo911 is offline
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AKA: That's "Mr. Bill"
FRC #2073 (EagleForce)
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Re: Bridge Manipulator

We used a single piston driven, link bar, wheeled manipulator. Honestly, it was our 4th iteration of the design. It worked perfectly all season.

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CalGames 2009 Semi Finalist, CalGames 2009 Autonomous Champion Award winner
Sacramento 2010 Creativity in Design winner, Sacramento 2010 Quarter finalist, 2010 Madtown Creative Design Award
2011 Sacramento Finalist, 2011 Madtown Engineering Inspiration Award
2012 Sacramento Semi-Finals, 2012 Sacramento Innovation in Control Award, 2012 SVR Judges Award.
2012 CalGames Autonomous Challenge Award winner ($$$).
2013 Pow3rhou53 Pwnage Gracious Professionalism Award.
2014 2X Rockwell Automation: Innovation in Control Award (CVR and SAC). Curie Division, Gracious Professionalism Award.
2014 Capital City Classic Winner AND Runner Up.
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Unread 05-21-2012, 06:33 PM
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FRC #0716 (Who'sCTEKS)
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Re: Bridge Manipulator

At the GSR regional we had a Minipulator that ran off numatics, it worked well and consistently the only problems was since we were very close on weight (119.9) we could not put the air compressor on the robot therfore with all the other numatics being used we could only use the bridge minipulator twice before running out wich wouldn't work as in week one the balls would get stuck on the bridge. the other problem with this minipulator was it took alittle longer then what we would like.

Therfore before st. louis we came up with a new bridge minipulater thanks to 175 Buzz for the idea. The new minipulator was a triangle with a curved arc were the bridge and minipulater met so it would slide nice and easily. This was powered by a window motor. this worked very well as it was quick, consistent, we could use it as much as we needed. and it saved us some weight
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Unread 05-21-2012, 09:27 PM
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FRC #1350 (Rambots)
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Re: Bridge Manipulator

We used a pair of arms with a non-parallel 4-bar linkage powered by a pneumatic cylinder that was connected to the frame and one of the bars. The two arms were synchronized with flow controls and linked with an aluminum tube with a blue pool noodle covering it (we empirically determined that blue was the optimal color due to its inherent durability as a result of quantum chromodynamics).

The 4-bar linkage was designed (by me ) using wood, bumper pins, and a drill-press. The wood version was then re-created using 1x1x.125 Al box tubing and a piece if the kit-bot channel which was then mounted to the frame (actually, when it was initially mounted, some of the wooden parts remained, this made it easier to prototype the actuator mount, which was not done by me).

It was an incredibly rugged design that took all sorts of abuse and damage and it never stopped working. I wish I had a montage of all the abuse it took. In one mach it got caught on the bridge as the driver was turning and bent way over to the side and it bounced back nearly all the way and was still functional. In another match (or was it the same one?) the robot fell off the bridge and about half of the robot's weight landed on the arm's "elbows" and they suffered no damage. In eliminations at the Boston regional, it was used as a wedge (despite being nearly vertical) to lift a bridge. That bent one of the bars, but it didn't interfere with it's motion. In St.Louis it received even more cosmetic damage and we replaced one of the most bent bars as a preventative measure after the bridge got lifted up into the arm While the arm simultaneously rammed the bridge.

Not only did the arm act as a bridge lower-er, but it also could act as a ball corral-er, and a stabilizer to facilitate single balances and double balances with the robot facing outwards (since our COG was towards the front, if we were facing inwards we were already sufficiently stable without it).

http://www.youtube.com/watch?v=PqLQ8...&feature=share
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  #22   Spotlight this post!  
Unread 05-21-2012, 09:37 PM
Kristian Calhoun's Avatar
Kristian Calhoun Kristian Calhoun is offline
Do what you want with my bot, eh.
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Re: Bridge Manipulator

Quote:
Originally Posted by Robogineer1649 View Post
I loved your wheelies they where really cool to watch on Einstein but I have a question for you. Did you guys build your robot knowing it would be able to do wheelies to push down the bridge or was that something you found out after building it? I was wondering this for a long time and my bet is on you found this out after building the robot.
We designed our robot to be back-weighted so that it could hang off of the bridge during triple balances. Nothing in our drive train's design has physically prevented our robots over the past couple years (except probably 2007's and 2009's) from performing wheelies. This year's weight distribution just made it particularly easy. To answer your question, our robot originally did have a bridge manipulator. However, about two matches into the Orlando Regional, we realized it was much easier for our driver to wheelie onto the bridge. It was a no-brainer for us to remove the bridge manipulator, which gave us the extra weight to bring the total number of wheels on our shooter back up to five.
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