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-   -   Garnet Squadron 4901 Presents: Sandstorm III (http://www.chiefdelphi.com/forums/showthread.php?t=144651)

JohnFogarty 24-02-2016 10:30

Garnet Squadron 4901 Presents: Sandstorm III
 


Competing at Palmetto, Orlando, and hopefully the FIRST Championship.

Slow Motion Tower Shot: https://m.youtube.com/watch?v=MfuO0p7KCm0

Don't Storm the Castle, Sandstorm it.

Taylor 24-02-2016 10:32

Re: Garnet Squadron 4901 Presents: Sandstorm III
 
Nice clean packaging. Very elegant.
The bumpers - is that one unit that is replaced? I can't imagine a red skirt on that keeping tight.

JohnFogarty 24-02-2016 10:35

Re: Garnet Squadron 4901 Presents: Sandstorm III
 
Quote:

Originally Posted by Taylor (Post 1545891)
Nice clean packaging. Very elegant.
The bumpers - is that one unit that is replaced? I can't imagine a red skirt on that keeping tight.

We have 2 full sets of bumpers. One red, one blue. The bumper is removed all at once. Similar to bumpers we used at Championship in 2014. http://www.chiefdelphi.com/media/photos/40712

jwfoss 24-02-2016 10:38

Re: Garnet Squadron 4901 Presents: Sandstorm III
 
Interesting concept, can you talk to the configuration of your pneumatics system, air tank placement, solenoid selection. It appears to be two 3/4" cylinders by 8" Stroke, are they double acting or spring return and what stroke? Any video of the shooter itself? Thanks.

JohnFogarty 24-02-2016 10:47

Re: Garnet Squadron 4901 Presents: Sandstorm III
 
Quote:

Originally Posted by jwfoss (Post 1545899)
Interesting concept, can you talk to the configuration of your pneumatics system. It appears to be two 3/4" cylinders by 8" Stroke, are they double acting or spring return and what stroke? Any video of the shooter itself? Thanks.

The Boulder shooter is a simple pneumatic linear punch. A single 3/4" bore 11in stroke double acting cylinder punches the Boulder. It has a white fiberglass rod (a driveway reflector rod) mounted underneath with 3D printed guides that acts as a additional linear guide to help keep the puncher in perfect alignment.

I don't have video of it, but tune in to Palmetto to see it in action.

Kevin Leonard 24-02-2016 10:54

Re: Garnet Squadron 4901 Presents: Sandstorm III
 
Beautiful machine! Elegant and simple and I can't wait to watch Palmetto this weekend. It seems like every team this year is building something awesome!

lynca 24-02-2016 14:29

Re: Garnet Squadron 4901 Presents: Sandstorm III
 
Great looking robot.

What type gearing is on the main arm ?

JohnFogarty 24-02-2016 14:39

Re: Garnet Squadron 4901 Presents: Sandstorm III
 
Quote:

Originally Posted by lynca (Post 1546112)
Great looking robot.

What type gearing is on the main arm ?

3/4" 6061 Aluminum plate custom designed and waterjetted for our arm. The pinion is driven by a CIM powered Versaplanetary The overall reduction on our arm is 300:1.

Billfred 24-02-2016 15:37

Re: Garnet Squadron 4901 Presents: Sandstorm III
 
Quote:

Originally Posted by jwfoss (Post 1545899)
Interesting concept, can you talk to the configuration of your pneumatics system, air tank placement, solenoid selection. It appears to be two 3/4" cylinders by 8" Stroke, are they double acting or spring return and what stroke? Any video of the shooter itself? Thanks.

Quote:

Originally Posted by JohnFogarty (Post 1545907)
The Boulder shooter is a simple pneumatic linear punch. A single 3/4" bore 11in stroke double acting cylinder punches the Boulder. It has a white fiberglass rod (a driveway reflector rod) mounted underneath with 3D printed guides that acts as a additional linear guide to help keep the puncher in perfect alignment.

I don't have video of it, but tune in to Palmetto to see it in action.

To answer the other questions:

Air tank placement: This robot is hell for packaging, and that just happened to be the most logical place to mount them. There wasn't any other mounting surface that was out of the way yet still low enough to clear the low bar.
Solenoid selection: These solenoids were lying around after we converted Sandstorm II from a pneumatic lift to a chain-driven lift at Orlando. They're McMaster 6425K11 according to my records, which is a pretty proven choice when you want that air out in a hurry.
Cylinders: Double-acting. Normally I'd sweat the air consumption, but there's enough time between shots that our air compressor is in good shape topping up.
Video: Sure!

lynca 24-02-2016 15:58

Re: Garnet Squadron 4901 Presents: Sandstorm III
 
Nice slow motion shooting video !

Does your arm have a locking system to account for gear slop ?

Billfred 24-02-2016 16:30

Re: Garnet Squadron 4901 Presents: Sandstorm III
 
Quote:

Originally Posted by lynca (Post 1546165)
Nice slow motion shooting video !

Does your arm have a locking system to account for gear slop ?

Yep! There are notches in the arm gear that a steel rod gets pushed into using cylinders. We poached the idea from 254's T-shirt cannon and 118's 2014 robots, and it allows our arm to start up and inside the frame perimeter. Matter of fact, we bagged it that way.

(Now, are all those notches where they need to be? Ask me after Palmetto. :rolleyes: )

carpedav000 24-02-2016 16:43

Re: Garnet Squadron 4901 Presents: Sandstorm III
 
That battery placement is pretty #cringetastic :D

JohnFogarty 24-02-2016 17:36

Re: Garnet Squadron 4901 Presents: Sandstorm III
 
Quote:

Originally Posted by carpedav000 (Post 1546208)
That battery placement is pretty #cringetastic :D

It's actually an optical illusion from the photo angle. There are several inches of space between the battery and the gear.

carpedav000 24-02-2016 19:37

Re: Garnet Squadron 4901 Presents: Sandstorm III
 
Quote:

Originally Posted by JohnFogarty (Post 1546238)
It's actually an optical illusion from the photo angle. There are several inches of space between the battery and the gear.

Ah, okay. It looked way closer! :eek:


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