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View Full Version : Build Blitz Robot Reveal - Team Copioli

Grant Cox
10-01-2014, 19:46
http://content.vexrobotics.com/buildblitz/images/robots/Copioli-350px.jpg (http://content.vexrobotics.com/buildblitz/images/robots/Copioli-HiRes.jpg)
(click for high resolution version)

After an intense 72 hours of designing, testing, and building, Team Copioli is thrilled to present their Build Blitz robot. Features include:


4-bar linkage combining the intake and launcher
Gratuitous use of the VersaBlock for maximum adjustability
VEXpro Single Speed Double Reduction gearboxes powering the kicker, allowing for custom shot strengths
Built 100% from COTS parts, including design software available free to FRC teams (Inventor and SolidWorks)

Check out the official reveal video here: http://www.youtube.com/watch?v=8tJMiGBpWHQ

For more information on how this robot came to be, be sure to check out BuildBlitz.com (http://www.buildblitz.com), where you can find team bios (http://www.buildblitz.com/team-copioli/) and a full CAD assembly (http://www.buildblitz.com/final-cad-files/). The mission of Build Blitz is, and has always been, to educate teams on the process these designers went through when designing their robot. As such, check out the liveblogs on the homepage of BuildBlitz.com, and feel free to use this thread to discuss or ask questions about Team Copioli's final product.
TheMadCADer
10-01-2014, 22:34
One thing I noticed during the reveal was that the tusk/intake linkage seems to back-drive due to inertia when the robot accelerates quickly. This caused the drivers a bit of trouble when trying to launch the ball with a running start. What would the team plan on doing to fix this problem?
bs7280
10-01-2014, 22:36
What does COTS parts mean?
Jay O'Donnell
10-01-2014, 22:37
What does COTS parts mean?

Common off the shelf.
Hallry
10-01-2014, 22:39
What does COTS parts mean?

According to the 2014 FRC Manual, “Commercial, Off-The-Shelf”
Jay O'Donnell
10-01-2014, 22:42
According to the 2014 FRC Manual, “Commercial, Off-The-Shelf”

Has it always been this? I've always thought it was common instead of commercial.
Racer26
10-01-2014, 22:45
Common off the shelf.

Its actually Commercial Off the Shelf.

Essentially, could any FRC team go buy it from a supplier?
Ether
10-01-2014, 22:54
Has it always been this? I've always thought it was common instead of commercial.

http://en.wikipedia.org/wiki/Commercial_off-the-shelf
Paul Copioli
10-01-2014, 23:06
One thing I noticed during the reveal was that the tusk/intake linkage seems to back-drive due to inertia when the robot accelerates quickly. This caused the drivers a bit of trouble when trying to launch the ball with a running start. What would the team plan on doing to fix this problem?

I call it "Zero PID". We could not get it tuned in time for the reveal, but one day of tuning and it would have held position.

Zero PID is simply this: Operator uses the controller to move the arm. When the arm is in the position the operator desires, then the operator releases the controller joystick. Once released, the microcontroller commands the arm to stay in that position using a potentiometer or encoder feedback. I have used this method successfully for every arm game since 2005. This would keep the four bar in position.

Paul
Dan Richardson
10-01-2014, 23:33
Great stuff Paul! I would be terrified to face off against this robot.

If this is the quality of the 3 day bots this year, what are the 6 week bots going to look like? What will champs look like? I'm excited!
CalTran
11-01-2014, 01:17
I thought in the Build Blitz webcast he said that the polycarb cut pieces were "custom"?
Foster
11-01-2014, 07:11
I'm sad that you took the Elevation game piece (the blue foam cube) off of the guide arm. I have about 500 of them, and was looking forward to having a way to get rid of them!

Nice design, and I've also built robots with "zero pid" most notably the 2008 "fork lift" robot.
artdutra04
11-01-2014, 07:20
I thought in the Build Blitz webcast he said that the polycarb cut pieces were "custom"?They are a drill press and band saw part made from 1/4in Lexan.
Switzer96
11-01-2014, 12:29
Not sure if I'm missing something but I was going through Team Copioli's CAD files, and it appears as if they are using a 15mm timing pulley (P/N 217-3230) to drive two belts out of the gearbox. The belts are not in the design, so I am trying to figure out how two would fit with what I'm assuming is a 9mm timing belt from vex pro. Are they using a different pulley/belt or would this be able to fit somehow?

I hope that more information on assembly will be released soon for teams looking into using Vex Pro's versa chassis system.
Maximillian
11-01-2014, 12:59
Not sure if I'm missing something but I was going through Team Copioli's CAD files, and it appears as if they are using a 15mm timing pulley (P/N 217-3230) to drive two belts out of the gearbox. The belts are not in the design, so I am trying to figure out how two would fit with what I'm assuming is a 9mm timing belt from vex pro. Are they using a different pulley/belt or would this be able to fit somehow?

I hope that more information on assembly will be released soon for teams looking into using Vex Pro's versa chassis system.

I am wondering this same thing. I looked at the CAD files and got very confused on what was going on with the belts.
Redo91
11-01-2014, 13:56
I saw posted somewhere here on CD(maybe in the 2014 VEXPro product release thread) that the pulley is toleranced such that 2 9mm belts will fit on the 15mm pulley.

Unless I imagined seeing it.
Chris is me
11-01-2014, 14:05
Not sure if I'm missing something but I was going through Team Copioli's CAD files, and it appears as if they are using a 15mm timing pulley (P/N 217-3230) to drive two belts out of the gearbox. The belts are not in the design, so I am trying to figure out how two would fit with what I'm assuming is a 9mm timing belt from vex pro. Are they using a different pulley/belt or would this be able to fit somehow?

I hope that more information on assembly will be released soon for teams looking into using Vex Pro's versa chassis system.

The 15mm pulley is a bit wider than that, and the 9mm belts are a bit narrower than that, allowing for two "9mm" belts to fit on a "15mm" Vex pulley.
Switzer96
11-01-2014, 14:10
Ok, I found where this was discussed in the Versa Chassis thread. RC responded to a similar question - http://www.chiefdelphi.com/forums/showpost.php?p=1313591&postcount=11

-The pulleys can be expanded with spacers.
Aren_Hill
15-01-2014, 10:53
Ok, I found where this was discussed in the Versa Chassis thread. RC responded to a similar question - http://www.chiefdelphi.com/forums/showpost.php?p=1313591&postcount=11

-The pulleys can be expanded with spacers.

The 42T and 60T pulleys can we widened with spacers. The 18T, 24T, 30T, 36T pulley come in two widths, the wider one can accommodate two 9mm wide belts. (we toleranced things to make this work).