View Full Version : pic: 1678 Offseason Robot Progress
jlbimson
17-10-2016, 10:31
[cdm-description=photo]43992[/cdm-description]
bcampbell
17-10-2016, 10:32
How did you manufacture the gear teeth on the turret and the variable angle ball holder? What kind of tolerances were you able to hold?
jlbimson
17-10-2016, 10:55
How did you manufacture the gear teeth on the turret and the variable angle ball holder? What kind of tolerances were you able to hold?
One of our sponsors does laser/water jet cutting for us. The tolerances are pretty tight, but the teeth mesh very nicely with the other gears. The turret did end up having a little bit of slop in the gearbox, but not too bad.
AdamHeard
17-10-2016, 11:13
We've waterjetted many 20 and 24 dp gears over the years at exact size without issue.
254's turret this year was water cut.
148 does a fair amount on laser.
gc_coxen
17-10-2016, 11:52
Very interested how this turns out. What drove the decision to make a turret catapult?
Not only is this catapult on a turret, the ball cradle slides for different shot trajectories...
#TSIMFD
Few things:
1. You guys aren't using it at CCC? Thought this was going to be one of the 3 you all are playing with.
2. How does it intake?
Anyways, this thing is hands-down awesome. Even if it's not done, you should still bring it to CCC so we all can see it in person!
jlbimson
17-10-2016, 12:06
Very interested how this turns out. What drove the decision to make a turret catapult?
We wanted to try some mechanisms that we had never tried before, and the programmers wanted to work more with vision. A lot of the reasoning behind our decisions was "because we can."
Could we get another picture of the bearing setup on the turret? :)
AdamHeard
17-10-2016, 12:32
Could we get another picture of the bearing setup on the turret? :)
It's the same as what 254 did for season, a 1601-washer-r3-washer-1601 stackup on a #10. This rides on a 1/4" plate (or 3/16" if no washer).
Iteration of what 1323 did in 2012 but w/ smaller bearings.
Looks like 1678 caught a little bit of the small robot fever for the offseason. Can't wait to see some pictures of the completed robot.
Justin Montois
17-10-2016, 13:41
Quick glance told me it was a swerve drive ;)
Looks cool. Interested to see how the intake works.
Michael Corsetto
17-10-2016, 14:46
Few things:
1. You guys aren't using it at CCC? Thought this was going to be one of the 3 you all are playing with.
2. How does it intake?
Anyways, this thing is hands-down awesome. Even if it's not done, you should still bring it to CCC so we all can see it in person!
1. Not at CCC. We will only be competing with one bot at CCC. Our 2016 Adrian practice bot will be driven by team 299. The rest of our students are volunteering.
2. Intake is mostly assembled, not mounted though. There are other mechanisms still missing as well!
Maybe we'll bring it to CCC, but we have a lot of other stuff to do just to make the event happen!
Thanks,
-Mike
wajirock
17-10-2016, 14:58
That is a very nice looking robot! How is the catapult powered? I don't think I see any pneumatics or elastic tubing. Is it motor driven?
Cothron Theiss
17-10-2016, 15:09
I'm just curious as to what that thingamabob (http://imgur.com/gallery/UlVSe) is in the corner. Were your machinists bored?
AdamHeard
17-10-2016, 15:10
I'm just curious as to what that thingamabob (http://imgur.com/gallery/UlVSe) is in the corner. Were your machinists bored?
That's a Turner's Cube.
That's a Turner's Cube.
Devin's pride and joy.
jlbimson
17-10-2016, 15:38
That is a very nice looking robot! How is the catapult powered? I don't think I see any pneumatics or elastic tubing. Is it motor driven?
The catapult will be powered by both surgical tubing and pneumatic cylinders. We just haven't mounted them yet.
Andrew_L
17-10-2016, 15:47
Looks gorgeous, hopefully one day I can dive into the CAD of this thing.
Gotta ask though, what's with the giant rivets?
Bryce2471
17-10-2016, 15:53
Awesome looking bot! I can't wait to see the final product.
How will you access the electronics for maintenance or repair?
PS. Love the random things in the rest of this photo
AlexanderLuke
17-10-2016, 16:11
A lot of the reasoning behind our decisions was "because we can."
That reasoning has led you this far, and it looks stunning. Did any prototyping in the offseason go into this, or did you perhaps test a catapult during the build season?
I would love to see some more pictures from different angles, or maybe even a video once it is operational :D
hopefully one day I can dive into the CAD of this thing.
+1.
niklas674
17-10-2016, 16:16
This robot is absolutely beautiful. I hope y'all will show it off at ccc. I'd love to see it.
jlbimson
17-10-2016, 16:26
Gotta ask though, what's with the giant rivets?
We got those by accident during the season, and are just trying to get rid of them.
How will you access the electronics for maintenance or repair?
The entire turret assembly (and everything on it) can be unbolted from the drivetrain, but the electronics are a huge pain to access.
That reasoning has led you this far, and it looks stunning. Did any prototyping in the offseason go into this, or did you perhaps test a catapult during the build season?
I would love to see some more pictures from different angles, or maybe even a video once it is operational :D
We did a couple of weeks of prototyping in June, but the rest was done in CAD over the summer. I will upload more pictures when we finish it, along with some other specs.
wesleyac
17-10-2016, 16:37
How will you access the electronics for maintenance or repair?
With great difficulty and possibly tears :P
The electronics on this bot are pretty crazy, given how small it is. We ended up needing to mount the PCM on the turret, because it won't fit elsewhere.
Not only is this catapult on a turret, the ball cradle slides for different shot trajectories...
You're seeing one of the two independent shot adjustment mechanisms ;)
RoboChair
17-10-2016, 16:49
I'm just curious as to what that thingamabob (http://imgur.com/gallery/UlVSe) is in the corner. Were your machinists bored?
My boredom and associated hijinks are the stuff of legend.
You're seeing one of the two independent shot adjustment mechanisms ;)
I assume an adjustable hard stop? I don't think the adjustable cradle is enough with a single throw length to get a fender shot, and considering I see what appears to be a mount for spring assist, you'll need/want some kind of Hardstop. Maybe that's what the empty pocket in the plate the catapult rotates around is for? A VP to adjust the throw?
Everytime I've looked at this picture (a lot of times) I've noticed something cooler. My favorite part may be that the catapult is offset by ~30 degrees on the turret to allow for a longer lever arm.
This robot is all about the little details, pun intended.
RoboChair
17-10-2016, 17:08
I assume an adjustable hard stop? I don't think the adjustable cradle is enough with a single throw length to get a fender shot, and considering I see what appears to be a mount for spring assist, you'll need/want some kind of Hardstop. Maybe that's what the empty pocket in the plate the catapult rotates around is for? A VP to adjust the throw?
Everytime I've looked at this picture (a lot of times) I've noticed something cooler. My favorite part may be that the catapult is offset by 30 degrees on the turret to allow for a longer lever arm.
This robot is all about the little details, pun intended.
Yes, there is an adjustable hard stop that uses a custom tiny disc brake. At least that's how I understand it is going to be.
Bluman56
17-10-2016, 18:18
Yes, there is an adjustable hard stop that uses a custom tiny disc brake. At least that's how I understand it is going to be.
Has 1678 bought up the world supply of disc brakes? You guys sure do love that stuff :P
I'd love to see this up close (as I'm sure others would as well) so I'm curious if the team would be able to show some of the details that we might not otherwise catch in photos like these. It would be a fantastic learning experience.
Otherwise, wicked cool stuff! Props to the team for the hard work over the summer.
Bryce2471
17-10-2016, 19:49
Did you build a functional prototype of the catapult with all these articulations?
I get the feeling that building the prototype would be a major challenge in itself, probably worthy of CAD.
nuclearnerd
17-10-2016, 23:48
I'm guessing one of the missing mechanisms is something to hold the ball in the arm cup when driving? Or does the intake do that as well? Can't wait to see the whole thing - please make a release video!
Harrison.Smith
18-10-2016, 01:08
I'm guessing one of the missing mechanisms is something to hold the ball in the arm cup when driving? Or does the intake do that as well? Can't wait to see the whole thing - please make a release video!
A release video would be sweet!
This robot is looking awesome I cannot imagine the headaches y'all had fitting everything in a size similar to Mittens, but without the arm. Looking forward to seeing this at Madtown.
The things that caught my eye are the compact compressor bracket and the wheels.
It looks like you cut openings in the polycarb and then bent it.
How did you bend it? Was it heated in an oven and then put into a form?
On the wheels, they look worn down. Did you sand off tread to make it turn easier?
Dave
jlbimson
18-10-2016, 10:23
Did you build a functional prototype of the catapult with all these articulations?
We built a catapult prototype, but not with the adjustable stop, scoop, or turret.
I'm guessing one of the missing mechanisms is something to hold the ball in the arm cup when driving? Or does the intake do that as well?
There will be a pair of omni wheels that help to hold the ball in place, and pivot downwards when firing.
It looks like you cut openings in the polycarb and then bent it.
How did you bend it? Was it heated in an oven and then put into a form?
On the wheels, they look worn down. Did you sand off tread to make it turn easier?
We cut the polycarb on our CNC router and made the bends using a heat gun and a press/break. The wheels are just used ones from the season, nothing special.
marshall
18-10-2016, 10:24
We got those by accident during the season, and are just trying to get rid of them.
Got a part number or link to them? I haven't seen those before but they look intriguing.
Blind Rivet Supply sells a wide assortment, they'll be labeled as "large flange" rivets.
http://i.imgur.com/8YNlhox.jpg
RoboChair
18-10-2016, 12:20
We built a catapult prototype, but not with the adjustable stop, scoop, or turret.
Well, we did prototype the adjustable scoop, just as a manual adjustment.
Got a part number or link to them? I haven't seen those before but they look intriguing.
Fastenal (https://www.fastenal.com/products/fasteners/riveting-self-clinching-products/rivets/blind-rivets?r=~|categoryl1:%22600000%20Fasteners%22|~%2 0~|categoryl2:%22600191%20Riveting%209and%20Self-Clinching%20Products%22|~%20~|categoryl3:%22612200 %20Rivets%22|~%20~|categoryl4:%22600194%20Blind%20 Rivets%22|~%20~|sattr01:^Aluminum/Aluminum$|~%20~|sattr02:^3/16%22$|~%20~|sattr04:^%22Button%20-%20Large%20Flange%22$|~) is where we got them.
araniaraniratul
19-10-2016, 01:15
Definitely a swing away from the usual simple swiss knife style, but I love it. Wish I could be at Madtown!
araniaraniratul
19-10-2016, 01:19
The things that caught my eye are the compact compressor bracket and the wheels.
It looks like you cut openings in the polycarb and then bent it.
How did you bend it? Was it heated in an oven and then put into a form?
On the wheels, they look worn down. Did you sand off tread to make it turn easier?
Dave
You know you've made it big when people assume every imperfection is genius!
Bryce2471
12-11-2016, 18:11
I intended to watch this robot play at Madtown, but I apparently tuned in too late.
How did it turn out? What were the learning experiences?
It was pretty terrible
That's a little harsh. While it didn't perform fantastically, I still thought it was a phenomenal piece of engineering and thoroughly enjoyed seeing it.
jlbimson
12-11-2016, 21:10
That's a little harsh. While it didn't perform fantastically, I still thought it was a phenomenal piece of engineering and thoroughly enjoyed seeing it.
Not harsh at all, as it seriously didn’t work. I’m going to post a render and more details, including lessons learned, sometime next week.
Not harsh at all, as it seriously didn’t work. I’m going to post a render and more details, including lessons learned, sometime next week.
Would you mind posting a model of that compressor bracket? I'd love to 3d print one of those.
Bluman56
12-11-2016, 21:25
Not harsh at all, as it seriously didn’t work. I’m going to post a render and more details, including lessons learned, sometime next week.
Seems like it was geared really fast. Was this the case or was there just no ramping code?
billbo911
13-11-2016, 11:25
... I still thought it was a phenomenal piece of engineering and thoroughly enjoyed seeing it.
Nick's assessment is right on the money! It is stunning to see what has been built into such a tiny chassis.
Granted, Lemon Drop did not perform up to the level we have come to expect from 1678, it certainly does meet their engineeding capabilities.
I have little doubt that if they continue to refine the drive code, it will be exactly what you would expect from them!
Not harsh at all, as it seriously didn’t work. I’m going to post a render and more details, including lessons learned, sometime next week.
After watching it on stream, it looked like it only had a few small errors that knocked it out of the game, rather than a failure of the overall design.
AnthonyDV
13-11-2016, 15:33
Seems like it was geared really fast. Was this the case or was there just no ramping code?
The robot was about 80% done. Building the bot took longer than expected which left the programmers without any time to test their code. The robot's new drive code was not ready so we wrote tank drive code in between matches. Tank drive, a short wheel base, and new drivers who did not have any driver practice contributed to the lack of control. The lack of time to test and find bugs also cause the robot to destroy itself.
tickspe15
13-11-2016, 18:35
..
The robot was about 80% done. Building the bot took longer than expected which left the programmers without any time to test their code. The robot's new drive code was not ready so we wrote tank drive code in between matches. Tank drive, a short wheel base, and new drivers who did not have any driver practice contributed to the lack of control. The lack of time to test and find bugs also cause the robot to destroy itself.
So basically, you got a taste of what an average FRC team's season is like? :P
AlexanderLuke
13-11-2016, 19:43
While we wait for more updates from the folks on 1678, perhaps someone who went to the Madtown event could share some additional close-up pictures of this robot with the rest of us? :D
While we wait for more updates from the folks on 1678, perhaps someone who went to the Madtown event could share some additional close-up pictures of this robot with the rest of us? :D
Happy to!
http://i.imgur.com/H4hWT7Hl.jpg
Here it is being worked on in their pit.
http://i.imgur.com/kW4jPKLl.jpg
While this is a photo of when it flipped, that's not why I took it and am sharing it. It shows the packaging on the bottom of the robot really well. Look at the spacing between those MiniCIMs :ahh:!
Lil' Lavery
13-11-2016, 23:41
Are those Talons/Victors attached to anything, or simply being held in place by wire tension? :confused:
jlbimson
14-11-2016, 12:10
Are those Talons/Victors attached to anything, or simply being held in place by wire tension? :confused:
The ones on the bottom are zip-tied to the bellypan. We have a couple more on top of the bellypan that are pretty much just stuffed under the turret.
Inquiring minds would love to see more details on this. Maybe its just me but the complexity of this machine seems like a change from the typical 1678 design mentality. Just pushing the boundaries for the "offseason"?
Inquiring minds would love to see more details on this. Maybe its just me but the complexity of this machine seems like a change from the typical 1678 design mentality. Just pushing the boundaries for the "offseason"?
To be fair, the same argument could be made for their 2016 in-season bot. It was pretty complicated with the rotating, telescoping arm.
I think it's probably a product of lots of experience gained over the past few years and some increased resources that have brought their build techniques to the next level.
Whatever it may be, 1678 never ceases to put out MFD designs, and I love it.
Michael Corsetto
23-11-2016, 12:35
Inquiring minds would love to see more details on this. Maybe its just me but the complexity of this machine seems like a change from the typical 1678 design mentality. Just pushing the boundaries for the "offseason"?
Justin,
I think the kids are working to tidy up the CAD and get it out so people can take a better look at what went into the design.
First, there definitely was a desire to push the boundaries and see what the current group of students was capable of. The packaging was really intense, and took a lot of whiteboard sessions to figure most of it out.
We also got to try out 5-6 different mechanisms the team hasn't designed before, which was valuable experience. This has paid off for us in past years, so we thought we'd continue trying new mechanisms in the offseason, but built in the "1678 style".
Lastly, this process highlighted some of the general areas we can improve on in the next 1.5 months. With new students every year, there will invariably be strengths and weaknesses in their design, assembly, programming and project management skills (to name a few!). Going through something like this allows mentors like me to better focus my energies on growing students in the ways they need to develop, in order to work as a cohesive unit come January.
We'll find out soon enough if the efforts paid off!
-Mike
Monochron
23-11-2016, 13:37
Going through something like this allows mentors like me to better focus my energies on growing students in the ways they need to develop, in order to work as a cohesive unit come January.
Separate from all the cool engineering, I would love to hear more about how you worked on this. How to develop students is something we are always looking to improve on.
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