Re: FIRST Climb for 237
 

:eek: That's incredible!! This is why I love the climbing in this game already, so many unique and creative systems.

Re: FIRST Climb for 237
 

Second end-over-end on CD. We were the first: http://chiefdelphi.com/forums/showthread.php?t=113110

Re: FIRST Climb for 237
 

This is FANTASTIC!
What is the array of lights from the middle of the robots? Are they your motor controllers? Jags? I can't tell.

Re: FIRST Climb for 237
 

Bank of 8 talons

Re: FIRST Climb for 237
 

Excellent Job! Thanks for posting it on youtube. I showed my team and they are super impressed. Our little robot throws some frisbees and weighs 91 lbs. We are bringing our arm and hooking it on at NYC. :) I love the end over end and outside of the box thinking. We like to drive around, so we were never going to just have a climber. Good luck.

How are you sensing that it is clamped on? Are you going to climb on the pole closest to you or from the opposite side so you can see your manipulator arms?

Re: FIRST Climb for 237
 

Thanks. We are working on the sensors now. The camera is mounted directly in line with the jaw for the 1st clamp so we don't have to be in sight line to do it.

Re: FIRST Climb for 237
 

Impressive. Great job guys,

Re: FIRST Climb for 237
 

Wow, that looked awesome! Would you guys mind sharing how your arms are powered (motors, reduction, etc.)? My team has a similar design but we've been having issues with our gears skipping (I may post more info/pics in a separate thread later if we can't solve it).

Re: FIRST Climb for 237
 

Sure.

On each grabber we have 2 - AndyMark 3 Stage GEM Gearboxes (am-0401) each powered by a large CIM motor. Each GEM drives a 20t output gear (am-0186) and both drive a 45t gear (am-0185) between the GEMs. Outside of the gearbox, we have a hex broached 17t #35 sprocket that drives the 30t #35 sprocket on the grabber. This last sprocket section allows us to adjust the ratio and keep within the space limits. If I remember correctly.. thats a total reduction of 195:1.

We had an issue with chain slip and we ended up designing beefy chain tensioners. These tensioners serve a dual purpose of holding the gearboxes in place and eliminating chain slack. A 1/2"-13 threaded rod pushes a "U" shaped aluminum block into the chain path. This is not the best thing for the chain, but we would rather change chain then fix a fallen robot. I will post a picture later today of this system.

Re: FIRST Climb for 237
 

Are your gripper feet dipped in plasti-dip? Or is it something else? Would you mind sharing the material used?

Re: FIRST Climb for 237
 

It's a vinyl plastisol. There are deep grooves in the grippers to keep the material in place.

Re: FIRST Climb for 237
 

Chain Tensioner