2022 Titan Robotics- Robot in Four Days

[evand4567]

Titan Robotics 2022 Robot in Four Days: http://youtu.be/D-Mv-X3h7CQ

Before R2OC our team decided to prototype swerve that eventually grew in to us building a full robot to explore our new partnership with Mad Lab Industries (madlab industries.com). Due to time constraints we were left with less than a week to build the robot, so we set up a go pro and went at it! Unfortunately, a couple of the bevel gears fell off during transportation and we were unalmble to compete with the new robot, but we plan on using it as our demo bot in the future. Thanks to all the volunteers at R2OC for a great competition and team 2338 Gear it Forward for all their help!

I will update with the CAD and some pictures/renders when I get a chance.

[evanperryg]

Titan Robotics 2022 Robot in Four Days: http://youtu.be/D-Mv-X3h7CQ

Before R2OC our team decided to prototype swerve that eventually grew in to us building a full robot to explore our new partnership with Mad Lab Industries (madlab industries.com). Due to time constraints we were left with less than a week to build the robot, so we set up a go pro and went at it! Unfortunately, a couple of the bevel gears fell off during transportation and we were unalmble to compete with the new robot, but we plan on using it as our demo bot in the future. Thanks to all the volunteers at R2OC for a great competition!

I will update with the CAD and some pictures/renders when I get a chance.

Really impressive design! I saw some of the preliminary CAD, great design and I hope to see it in action some time!

[Andrew Schreiber]

Cool looking bot. But please stop working on pool tables :(

[JohnFogarty]

If I owned that pool table I might have to strangle someone.

(Pool-tables are notoriously difficult to keep balanced. putting any kind of weight on them outside the realm of pool balls can really mess up the balance quite easily.)

[evanperryg]

If I owned that pool table I might have to strangle someone.

(Pool-tables are notoriously difficult to keep balanced. putting any kind of weight on them outside the realm of pool balls can really mess up the balance quite easily.)

And it's pretty much ruined if they scrape the felt :eek:

[evand4567]

There was a special set of circumstances that led to us working on that pool table with the approval of the owner. The pool table is falling apart as is and needs to be re-felted anyway. we also put the banner down to minimize any other damage that may occur.

[Andrew Schreiber]

And it's pretty much ruined if they scrape the felt :eek:

No, they can be recovered but it's pricey.

[evanperryg]

Titan Robotics 2022 Robot in Four Days: http://youtu.be/D-Mv-X3h7CQ
please stop working on pool tables :(
If I owned that pool table I might have to strangle someone.
And it's pretty much ruined if they scrape the felt :eek:
There was a special set of circumstances that led to us working on that pool table with the approval of the owner. The pool table is falling apart as is and needs to be re-felted anyway. we also put the banner down to minimize any other damage that may occur.

Welcome to Chief Delphi, ladies and gentlemen.

How about we talk about the robot now?

[Andrew Schreiber]

Welcome to Chief Delphi, ladies and gentlemen.

How about we talk about the robot now?

Excuse me for being appalled at what I perceived as damaging things. OP didn't give us much info on the bot so I commented on what the video was apparently about.


I'm curious about how they lost the bevel gears. As well as, idk, anything about the design process or decisions behind the robot.

[evand4567]

The bevel gears were lost when we didn't tighten the setscrews on them before transportation (we were doing some work on the modules) and they fell off.

[Andrew Schreiber]

The bevel gears were lost when we didn't tighten the setscrews on them before transportation (we were doing some work on the modules) and they fell off.

And this wasn't fixable at the event? Is that because of your design or some other factors?

[evand4567]

The swerve module uses a CIM to drive and an RS-550 to turn. The turning was done under the module to keep a low moment of torque and a fairly short module to easily fit the ball over. The modules have a theoretical max speed of 12.3 fps. We used a catapult with extension springs and the andymark shift-to-neutral gearbox (stupidest piece of $#@& ever) and a roller bar with polycord driven by an RS-555 for intake. Renders and pictures:

http://imgur.com/a/dtbxI

The swerve has changed since the render here. We have turned the CIM vertical and removed the first set of bevel gears, leaving only the ones in the wheel module. There are a number of problems that will need to be addressed with the modules, including:
-the wheel tread rubs on the module
-the vertical shaft running to the wheel module can come out of alignment
-the gears in the wheel shaft are a little to close together
-the encoder mount is very poor
-chain for turning isn't such a hot idea
-does not mount to 2"x1" tube easily
-no belt or chain tensions

CAD:

Gearbox: https://drive.google.com/file/d/0Bz-q52T7ios9ZE1qSXo0MzJZaXM/edit?usp=sharing

Robot: https://drive.google.com/file/d/0Bz-q52T7ios9VVNaS0syU05rQXM/edit?usp=sharing

And the bevel gears falling off was because of our stupidity in forgetting to tighten them... They fell off in our shop as we were loading the robot.

Edit: Some facets of the design have changed since the CAD. Also, the cad is colored because we intended to powdercoat but didn't have enough time.

[JohnFogarty]

That is some pretty amazing stuff for 4 days of work.

[pwnageNick]

With only a few days to put the robot together, how were you guys able to get the programming finished and work the bugs out? It took us a couple months working all the way through build season and even after bag day on our practice bot to work out all the kinks.

Also how was the code debugged for the other systems in that little amount of time, such as the arm, roller, catapult, etc.?

Cool to see you guys have some new machining sponsorship.

-Nick

[evand4567]

With only a few days to put the robot together, how were you guys able to get the programming finished and work the bugs out? It took us a couple months working all the way through build season and even after bag day on our practice bot to work out all the kinks.

Also how was the code debugged for the other systems in that little amount of time, such as the arm, roller, catapult, etc.?


We made a small swerve mockup out of servos and such a few weeks in advance. The programmers were bug testing systems as we completed them and added them to the robot. For the final drive base, we weren't able to get swerve working before R2OC, so we had a tank and crab mode. I don't know all the details because I do mechanical and CAD.

[Stark4Prez23]

With only a few days to put the robot together, how were you guys able to get the programming finished and work the bugs out? It took us a couple months working all the way through build season and even after bag day on our practice bot to work out all the kinks.



Also how was the code debugged for the other systems in that little amount of time, such as the arm, roller, catapult, etc.?



Cool to see you guys have some new machining sponsorship.



-Nick


Our programmers actually studied code from a bunch of different sources, and did their own vector math for their code. What with us mechanical people hogging the robot, they didn't get that much time to test and debug, but we are currently working on it for UPS's off season event.

[XaulZan11]

Our programmers actually studied code from a bunch of different sources, and did their own vector math for their code. What with us mechanical people hogging the robot, they didn't get that much time to test and debug, but we are currently working on it for UPS's off season event.

Excellent! I'm looking forward to see it work on the field.

It is really cool to see your team continually trying to improve from a completely new arm for Midwest and now a completely new robot for offseason.

[Stark4Prez23]

Excellent! I'm looking forward to see it work on the field.

It is really cool to see your team continually trying to improve from a completely new arm for Midwest and now a completely new robot for offseason.

Thank you! We are looking forward to a great season and can't wait to see you guys again!