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-   -   pic: FRC971 Spartan Robotics Presents: Renegade (http://www.chiefdelphi.com/forums/showthread.php?t=104632)

kevincrispie 14-03-2012 23:42

Re: pic: FRC971 Spartan Robotics Presents: Renegade
 
Here's a link to Austin's post last year regarding the fans.

http://www.chiefdelphi.com/forums/sh...8&postcount=18

When turnaround time is faster during matches (practice rounds, elims, etc) the fans have their largest effect.

DampRobot 14-03-2012 23:55

Re: pic: FRC971 Spartan Robotics Presents: Renegade
 
Quote:

Originally Posted by Nuttyman54 (Post 1144372)
Thanks for the compliments Akash, the team is really proud of this one. This is the best picture of the transmission I could dig up is here.

Wow, that's a well done transmission! How did you mount the two gears to the CIM? Did you use the AM 8mm to Hex adapters, or broach your own gears? That's certainly a elegant way to get shifting with minimal complexity. By the way, are the center wheels direct driven?

Andrew Lawrence 14-03-2012 23:57

Re: pic: FRC971 Spartan Robotics Presents: Renegade
 
How does the belt drive work for you? Was it hard to do? If so, was it worth the difficulty?

kevincrispie 15-03-2012 00:05

Re: pic: FRC971 Spartan Robotics Presents: Renegade
 
Quote:

Originally Posted by SuperNerd256 (Post 1144448)
How does the belt drive work for you? Was it hard to do? If so, was it worth the difficulty?

We'll see how it holds up at Davis. It has been working pretty well thus far after the drivetrain was tuned.
The timing belt drivetrain is nice, but it's best to run force calculations to see how it'll hold up. Belt doesn't stretch like chain does, and its quieter and a bit more efficient. It is also lighter. This, coupled with the fact that we have 2 inch wheel means we should be able to get to where we want to go on the field.
The extra traction is useful going up the bridge.

kevincrispie 15-03-2012 00:25

Re: pic: FRC971 Spartan Robotics Presents: Renegade
 
Quote:

Originally Posted by Akash Rastogi (Post 1144328)

3. Any issues with balls jamming in the hopper/conveyor?

I think you realized this already, but we put in a horizontal conveyer to help sort the balls. Since we were going with ~24 in intake, we needed a way to rapidly get the balls into a column/row/whatever. Once organized, we can pretty easily get the balls into the tower. The vertical belt then runs at the same time as the shooter wheel, and presto, we shoot (and hopefully score).

Below is a picture of the conveyor.



The team spent several days prototyping this. Inevitably, a ball would get stuck somewhere. We configured it with the intake, then make sure we had accurate measurements in the CAD that were the same as the working prototype. Since it was such a key part of our game, we spent a lot of time on this.

James Kuszmaul 15-03-2012 07:42

Re: pic: FRC971 Spartan Robotics Presents: Renegade
 
Quote:

Originally Posted by DampRobot (Post 1144444)
Wow, that's a well done transmission! How did you mount the two gears to the CIM? Did you use the AM 8mm to Hex adapters, or broach your own gears? That's certainly a elegant way to get shifting with minimal complexity. By the way, are the center wheels direct driven?

We got a shaft custom machined to press onto the CIMs.
The transmission assembly is detachable, and it outputs in a 15 tooth gear which meshes with a 50 tooth gear which is on the same axle as the center wheel.

Adam Freeman 15-03-2012 08:35

Re: pic: FRC971 Spartan Robotics Presents: Renegade
 
Another awesome machine!

As always you guys play so fast, its amazing. I am sure your drivers will be practiced up and ready to go.

I really like the horizontal belt system to push the balls over and line them up. Really cool way of solving the jamming problem.

I am really happy to see you are registered for the Championships this year. You had such a great robot last year, I think it would have been a big factor in the elims if you could have qualified for Champs.

Good luck this weekend.

nlknauss 15-03-2012 08:58

Re: pic: FRC971 Spartan Robotics Presents: Renegade
 
Great looking robot and design process you all seemed to follow. After seeing this robot and others from CA it makes me want to take a trip out to visit the regionals sometime. Thank you for sharing the details of your machine with us! Good luck in competition.

Nate

Sh1ine 16-03-2012 09:35

Re: pic: FRC971 Spartan Robotics Presents: Renegade
 
Quote:

Originally Posted by kevincrispie (Post 1144302)
We also worked to make new wheels this season, to complement the new drivetrain.

Tread is attached via zipties.
Wheels measure around 2 inch wide and 3.5 inch tall w/ tread.

Thank you to RC for machining these. They turned out great (so far). ;)


Very nice robot.

We also use belts for our drive train. This is our second year using them and as for a a skid steer type drive train is concerned I do not think we will ever go back. We use live axles in our system. It seems like you are using a dead axle system with the sprockets machined directly into your wheels (very cool). I would love to see a up close and personal view of how your power transmission works.

AlecMataloni 18-03-2012 16:57

Re: pic: FRC971 Spartan Robotics Presents: Renegade
 
First of all, Congrats on the win at Sacramento. I'm glad to see you guys coming to the championship this year. I really wish I had seen 971 at St. Louis last year. :(

Second, I'm curious about the pistons you're using to shift. I've never seen anything like that! How reliable are the "Pancake" pistons? Are there any drawbacks to using them, compared to the standard actuator on an AM supershifter? It looks like they save quite a bit of space and weight. Also, where are they for sale?

ttldomination 18-03-2012 17:02

Re: pic: FRC971 Spartan Robotics Presents: Renegade
 
Quote:

Originally Posted by SuperNerd256 (Post 1144343)
The recent driver practices have shown the robot works excellently! 971 is going to be a strong contender at SAC and SVR. IMO It will win them both, as the alliance captain.

http://www.youtube.com/watch?v=KS3n9...6fFAAAAAAAAOAA

http://www.youtube.com/watch?v=rK2et...47FAAAAAAAAPAA

Vids are private?

Would love to see this thing in action.

- Sunny G.

Andrew Lawrence 18-03-2012 17:10

Re: pic: FRC971 Spartan Robotics Presents: Renegade
 
Quote:

Originally Posted by ttldomination (Post 1145739)
Vids are private?

Would love to see this thing in action.

- Sunny G.

I just found them on youtube one day while searching for robot things, and they were public then. Looks like they're private now.

You can probably find videos of the robot in matches at the SAC regional on youtube, or from the SAC regional thread, where someone may have posted links.

kevincrispie 18-03-2012 17:18

Re: pic: FRC971 Spartan Robotics Presents: Renegade
 
I can talk to people to see if we can get some videos back up. We hope to make some sort of video compilation to send out.

Stay tuned.

Cory 18-03-2012 17:38

Re: pic: FRC971 Spartan Robotics Presents: Renegade
 
Quote:

Originally Posted by AlecMataloni (Post 1145735)
First of all, Congrats on the win at Sacramento. I'm glad to see you guys coming to the championship this year. I really wish I had seen 971 at St. Louis last year. :(

Second, I'm curious about the pistons you're using to shift. I've never seen anything like that! How reliable are the "Pancake" pistons? Are there any drawbacks to using them, compared to the standard actuator on an AM supershifter? It looks like they save quite a bit of space and weight. Also, where are they for sale?

We first used the pancake cylinders in 2010, with the 3 position variety for our PTO, due to the relaxed pneumatic rules. I believe we were the first team to use the flat cylinder line from Bimba.

We used the 2 position ones last year and this year.

They're no more or less reliable than the standard Bimba line of cylinders. They do require different fittings, since they are so small, and must be face mounted.

AlecMataloni 18-03-2012 17:48

Re: pic: FRC971 Spartan Robotics Presents: Renegade
 
Quote:

Originally Posted by Cory (Post 1145758)
We first used the pancake cylinders in 2010, with the 3 position variety for our PTO, due to the relaxed pneumatic rules. I believe we were the first team to use the flat cylinder line from Bimba.

We used the 2 position ones last year and this year.

They're no more or less reliable than the standard Bimba line of cylinders. They do require different fittings, since they are so small, and must be face mounted.

Thank you for the information! Do you know the part numbers for the cylinders and the fittings offhand?


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