FIRST Climb for 237
 

Here is our first climb. Robot climbed by itself without help from the spotters
Video

Re: FIRST Climb for 237
 

This is awesome! Can't wait to see you do it without spotters and faster. Will you be "dumping" any discs in the pyramid goal?

Re: FIRST Climb for 237
 

Cool. It is tricky aligning to the corner for a straight climb. How have you solved that challenge?

Re: FIRST Climb for 237
 

That is the plan.

Re: FIRST Climb for 237
 

Camera mounted over the jaws.

Re: FIRST Climb for 237
 

What the size of the frame perimeter? It looks like its way bigger than 112", but maybe I'm just seeing things.

Re: FIRST Climb for 237
 

Very stoked to see this in person.

Re: FIRST Climb for 237
 

::safety:: Looks like a pretty awesome way to climb. Guess that's another one of the climbs checked off. So far, we have the first 30 pt climb, the first corner climb, and now the first second end over end climb.

Re: FIRST Climb for 237
 

In spec. 111"

Re: FIRST Climb for 237
 

Can you post it to youtube or some other way so that those of us who have facebook blocked from school can see it? Thanks. I can't wait to see it. We are working on our climber from the corners as well. My students will be excited to see someone who accomplished it. Great job.

Re: FIRST Climb for 237
 

Re: FIRST Climb for 237
 

Good job guys. I have not seen anyone climb end over end. So is this all your bot can do? and IF you can you mught want to add a final locking arm incase you lose power when at the top.

Re: FIRST Climb for 237
 

Looks great guys can't wait to see it in competition at Hartford this year!

Re: FIRST Climb for 237
 

The perimeter is exactly 111.5" around. It was measured by multiple people. The locking arm idea would be great if the system wasn't using pneumatic cylinders to lock on the pole. The system will hold as long as there is pressure in the system, and we've checked our system multiple times already.

Re: FIRST Climb for 237
 

But you're using motors to rotate the arms right? I think his point was that if you're in the middle of a flip when time runs out, you could have a pneumatically actuated brake that prevents your arm from backdriving. Otherwise, if your robot is in mid-flip and is, for example, horizontal, it's almost guaranteed that if power is cut the arm will backdrive and your robot will sag below the line, reducing your score.

It's possible your gear reduction is high enough that simply putting the speed controller in 'brake' mode is enough to do this, but you'd have to check.

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