3310 Robot Reveal
 

Team 3310 presents "Warhawk".


Features:

Auton Bin Grabber to acquire and move 2 bins off the step in under 0.25 seconds.

4 degree of freedom "Palletizing" arm designed to park at the Chute Door (yes, Chute Door) and stack up to 5 columns of totes up to 6 high.

Arm cycle time for a round trip (chute door to tote placement and back to chute door) is approximately 3.5 seconds.

Link to teaser video: http://youtu.be/pmyphoi-ASg

Needless to say, we are excited for Dallas.

Re: 3310 Robot Reveal
 

Been hearing rumors all season about this thing. Glad it's out in the wild. Can't wait to see this machine in action. Hopefully we'll get to play together at Bayou.

The quarter sec can grab is insane.

Re: 3310 Robot Reveal
 

How are those arms so fast?!?

Well done!

Re: 3310 Robot Reveal
 

Motion profile + a ridiculously oversized motor for the job + fishing pole whip

Basically, the brute force method.

Re: 3310 Robot Reveal
 

Not to appear to be silly, but I think they got the idea after your user photo. Isn't that what the arm on the left is doing?? :rolleyes:

Re: 3310 Robot Reveal
 

That's one fast can grab.

I'd like to see this "Palletizing" arm in action. Looks way different than the other stack building systems I've seen so far.

Re: 3310 Robot Reveal
 

I had been joking that I was hoping you'd make a FANUC arm when you came back.... you did it.

Very excited to see it!

Re: 3310 Robot Reveal
 

I got really excited when I read this and saw the youtube link, but alas... The blazing fast whips are still cool.

Re: 3310 Robot Reveal
 

Is the arm mounted on a turret?

Re: 3310 Robot Reveal
 

Yes. 360 degree turret is joint 1, large arm is joint 2 smaller arm is joint 3 and wrist is link 4.

Re: 3310 Robot Reveal
 

I like the look of the black metal!

Re: 3310 Robot Reveal
 

4 DOF! What kind of controller are you using? Are you calculating the forward and/or inverse kinematics?

Re: 3310 Robot Reveal
 

Looks beautiful. And that .25 second bin grab is very impressive. Any chance we can see the stacking arm in action?

Re: 3310 Robot Reveal
 

Doing both forward and inverse kinematics, when required.

Using the RoboRio for kinematics, inverse kinematics, coordinated motion and motion profile; using the Talon SRX for all PID and sensor data collection.

Roborio simply sends position commands to the 4 Talons every 10ms.

Re: 3310 Robot Reveal
 

That's excellent. I love how the SRXs are enabling FRC teams to use distributed control. Are you updating the PID constants dynamically or did you find a set for each joint that works?