[Ri3D] Team oRyon Presents Betelgeuse!!
 

Team oRyon Presents Betelgeuse!!

Betelgeuse is Team oRyon's entry to the Ri3D challenge for this year's FRC 2015 game, Recycle Rush. It is a low cost, simple design, competition ready (almost!!) robot that could compete in this year's game. We continued our strategy from last year in focusing on making a robot that teams without a lot of funds could build and still be very competitive. Along with the other teams completing the challenge, we feel that all of our ideas and work combined would benefit all teams for this years game. Feel free to ask any questions about our robot and design process. All of our videos are on our website and the Ri3D YouTube channel along with the other videos from the other Ri3D teams as well.

We would also like to thank our sponsors that helped us be able to be successful in completing this in the 3 day time frame.

Now that we have finished our challenge, we challenge all the other FRC teams to use the information that we shared and make some amazing robots. We can't wait to see what everyone comes up with in the next 6 weeks!!

Reveal Video: http://youtu.be/0KOSkMz1hTA

Twitter: https://twitter.com/TeamORYON

Facebook: https://www.facebook.com/oryonlabs

Website: http://oryonlabs.us/

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

Pretty Sweet!
Thanks for sharing.

I noticed you didn't have any "litter" in the stacked container(s), what would be your strategy for placing those (maybe it was mentioned somewhere and I missed it)?

I assume by the human player at the human player station before you stack it?
I suspect allot of teams are going to be doing that.

Just curious.

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

Very cool video inspiring possibilities for teams!

...perhaps 6pts is not worth going for at all?

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

I didn't think the containers were worth much or anything when stacked unless there was a piece of litter in it, but maybe I'm wrong.

I need to go back an re-read the game rules.

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

If your tote+container stack one tote higher, it's worth the same points as a noodle in the container (maxes out at 6, though).

Also, awesome video, oRyon. Great example for teams.

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

What is the wall thickness of the 2x1 Al tubing on the lift?

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

If I say its name three times, will it appear in my lab?

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

It's 1/8" so it's really sturdy. Probably more so than it needs to be.

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

We talked about it and decided that it might be better for the human player to put the litter into the recycle because that would take time picking them up off the ground and then positioning to put in the bin. We also couldn't think of an all-in-one mechanism to pick up the litter, totes and the bin and get it built in 3 days. Hopefully some teams can come up with one in 6 weeks. :)

After discussing it all, we felt stacking totes and bins would be our primary focus because you could do that quickly and efficiently and didn't have to rely so much on the human player. Our idea is the human player could stack two totes from the human player station and we would pick those up and score them.

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

Any idea what they used with the extrusion for the arm to allow for that slide motion? Is it simple bearings or something else?

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

They said in one of their videos that it was part of a Competition Robotics Lift Kit. But, after some searching on the internet, I can't find it. Can anyone provide a link?

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

Here it is: http://www.competitionrobotparts.com/

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

The version as mounted is actually just nuts sliding in the REV extrusion. A linear slide or the rev linear motion system would work far better. It also could work with just a single pneumatic if it had a linear bearing mechanism to keep it traveling straight with out jamming.

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

Why has the robot got only 4 omni wheels in a tank setup? What is the point of that? Wouldn't adding a middle wheel (H-drive) work better?

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

The point is, it can turn much more easily/smoothly than a 4WD with traction tires. And without the "rocking" of a drop-center 6WD.

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

H drive would be nice! But... its 3 days and not everyone can build an efficient Hdrive. I agree that H drive would be beneficial in some cases but it was not worth spending our time during the 3 days.

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

Yes. Our fork is the least complete system on the robot. The imaginary next iteration would use a more robust sliding mechanism. We took the brute force approach and used two massive pistons to prove the concept.

Precisely! We recommend swapping out the front two wheels for traction wheels. You can still turn but you would be less "slidy" on the bump and your center of rotation would move forward towards the front of the robot which is desirable when manipulating totes.

Tried it yet? Last I checked it was still at Rice U. :D

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

I think at about 1:40 in the video I see a CIM powered VersaPlanetary Gearbox directly driving a spool for your winching mechanism for your elevator. Can you confirm this? What is the final gear ratio in the gearbox and what diameter spool are you using?

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

That is correct. 1:70 versa planetary (1:7 + 1:10). The spool is something we found in a box and adapted. Its OD is roughly 4 inches. I imagine something similar could be found on McMaster. The most important part of a spool in this application is the sidewall height. You don't ever want your cable to slip off the spool. See attached pic.

We drilled some holes in it in order to mount a vex pro hex hub and another hole in the side wall to tie off the 1/16th cable.

To fasten the cable to the spool we tied a simple knot around the hole spool (like the first knot when tying a shoe) and passed the end through the hole drilled in the sidewall. We used a swage crimp as the main means of fastening the cable. If you used swage crimps, make sure you use the proper size crimp that is designed for your diameter cable and use a proper swaging tool.

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

Just to clarify: Is 4" the od of the flange, or the where the cable spools up?

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

Well done for 3 days, guys. A great example of a highly functional robot that any team could make.

-Brando

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

Where the cable spools up. An estimate =)

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

Thanks a bunch this is very useful information :)

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

Love the video, and the lightshow your robots put on. Well done.

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

We have 86 likes on our release video! Lets get to 100! Watch the video! Like the video and spread the word!

http://youtu.be/0KOSkMz1hTA

Lets inspire the community! I would like all of the teams that are going to build something similar to make major improvements to our design!

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

White paper! http://www.chiefdelphi.com/media/papers/3091?

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

Are the arms on the lift a standard aluminum stock size? I can't seem to find much C-channel or angled aluminum that is smaller than 1" in either dimension.

Glad to see that some of the Ri3D teams arrived at similar design conclusions that our team did.

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

2x1 ripped down the middle of the 1 inch side.

kept it .5 in order to fit between the totes in the landfill.

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

That strategy is specifically why I ask. We will want to keep our arms fairly narrow for the landfill but I want more resistance to bending than a flat stock of 1/8" aluminum is going to have when we hit something hard while turning.

Thanks for the idea!

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

Does the dimensions of your robot fit in the "Transport" frame? It appears that the wider dimension is across the forks and the shallower dimension is in line with the forks

Re: [Ri3D] Team oRyon Presents Betelgeuse!!
 

The robot is a square chassis.
The forks extend the dimensions in the 42" side.
The forks are 6 inches too long so really 48" total.
Those six inches don't really affect the intake but we opted not to cut them due to time constraints.