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-   -   pic: Recycle Rush Re-design (http://www.chiefdelphi.com/forums/showthread.php?t=140534)

AdamHeard 23-12-2015 02:49

Re: pic: Recycle Rush Re-design
 
Quote:

Originally Posted by JohnSchneider (Post 1514286)
Actually at a certain point the weight of the arm doesn't matter at all. Or you end up snapping it by going too fast :rolleyes:

The weight doesn't directly matter, but the inertia of it certainly does for acceleration.

a 6' arm versus a 5' arm w/ all other variables held constant will have substantially less inertia, which allows higher accelerations for same power.

DaveL 23-12-2015 07:53

Re: pic: Recycle Rush Re-design
 
Interesting.
Check out team 4488. They have an amazing robot!
https://www.youtube.com/watch?v=VpZazV3wP1s

Dave

EmileH 23-12-2015 09:04

Re: pic: Recycle Rush Re-design
 
What is the gear reduction for the versaplanetary on the BAGs driving the can grabbers?

nuclearnerd 23-12-2015 09:33

Re: pic: Recycle Rush Re-design
 
Quote:

Originally Posted by KohKohPuffs (Post 1514353)
Nope, there's only one elevator, and that's exclusive to stacking. Also, the elevator is really short: it can lift up to the second tote level; after all, stacking really only occurs at that level.

You might consider lifting a little higher so you can do co-op.

GeeTwo 23-12-2015 10:11

Re: pic: Recycle Rush Re-design
 
Quote:

Originally Posted by nuclearnerd (Post 1514377)
You might consider lifting a little higher so you can do co-op.

I haven't looked at the CAD, but from the render, it appears you need more than just lifting higher to score co-op. The elevator bracket appears to be fixed on the horizontal axis, and the way it supports a tote means that it cannot be extended outside of the robot frame. This could probably be enabled without additional actuators but would certainly require greater complexity to push the totes out while being supported by the elevator.
The intake rollers also appear to be at a constant altitude and possibly location, interfering with the coop score. The rollers would need to move out of the way (or better, up so that they push the totes out).

Edits:
Quote:

Originally Posted by EmileH (Post 1514393)
The intake rollers do actuate out - it's hard to see from the render but there is a pneumatic piston there.

Oh, I see that now. That does mean that (as currently mounted) they would not be useful to help place the elevated stack on the step; another mechanism would be required.

Also, I was curious about the RC lift - do I understand correctly that it would be a two-step process to cap a stack of fewer than six totes? That is, you'd have to score the short stack, then back up a bit to score the RC atop it. Not a showstopper, but an interesting trade-off.

EmileH 23-12-2015 10:54

Re: pic: Recycle Rush Re-design
 
Quote:

Originally Posted by GeeTwo (Post 1514384)
The intake rollers also appear to be at a constant altitude and possibly location, interfering with the coop score. The rollers would need to move out of the way (or better, up so that they push the totes out).

The intake rollers do actuate out - it's hard to see from the render but there is a pneumatic piston there.

KohKohPuffs 23-12-2015 22:02

Re: pic: Recycle Rush Re-design
 
Quote:

Originally Posted by EmileH (Post 1514393)
The intake rollers do actuate out - it's hard to see from the render but there is a pneumatic piston there.

Yes, there are pistons that actuate the intakes in and out. As for the bot's ability to do coopertition, I never intended this to have that function. Maybe the intakes are high enough to do it, and if it does, then I can use the intakes to roll the yellow totes out. However, for this bot it's all about the stacking. If this were in a competition, I would love the 40 points from the yellow totes, but making consistent stacks looks better for scouting. That was my logic for that.

As for dropping a stack less than 6 totes, yes the bot does have to back up a little because of the bin grabber arm. It's a disadvantage, but I kind of also wanted to do such a mechanism because I never made such things in CAD before, and I wanted to try it out.

GeeTwo 23-12-2015 22:29

Re: pic: Recycle Rush Re-design
 
Quote:

Originally Posted by KohKohPuffs (Post 1514547)
I would love the 40 points from the yellow totes, but making consistent stacks looks better for scouting. That was my logic for that.

Noted, and respected. Just trying to clarify the decisions that led to this design.

Quote:

Originally Posted by KohKohPuffs (Post 1514547)
As for dropping a stack less than 6 totes, yes the bot does have to back up a little because of the bin grabber arm. It's a disadvantage, but I kind of also wanted to do such a mechanism because I never made such things in CAD before, and I wanted to try it out.

Again, noted and respected; just clarifying.


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