Interesting/Cool Scaling Mechanism Designs
 

This year has been an interesting year for scaling mechanisms as teams try to meet some very difficult design constraints. With many teams deciding to go under the low bar, the packaging problem that comes with a scaling mechanism can get very challenging. I wanted to create a thread to talk about all of the awesome "out of the box" ways that teams have solved this problem.

Obviously what comes to mind is 118's grappling hook - as far as I know we've never seen anything like that before.

But for my contribution I want to spotlight SWAG 4060:

https://www.facebook.com/swag4060/vi...02735356484448

Their scaling mechanism is a long inflatable tube with a hook at the end! It doesn't even look like they can scale until the last 20 seconds, when a giant tube unfurls out of their robot and attaches to the rung. Their hanger got them all the way to the finals at Auburn, but sadly they didn't get enough points to get to PNW Champs.

What awesome scaling mechanisms have you seen?

Re: Interesting/Cool Scaling Mechanism Designs
 

As a low bot...ours was super compact, pretty climb and very fast when it worked and went all the way to top once too far.
Simple scissor with slots in top part instead of holes so top could center and pop off to winch up.

We used a winch connected to "collapsible coat hanger" part of the scissor and 2 Cims.
Had a wood box centering it.

https://www.youtube.com/watch?v=fF5at9wG0Ug

Successful QF scale in SD week 1 at end of clip.
We were alliance 8 they were alliance 1

One of our original designs was something either inflatable as in OP or with a spring like a snake, we spent lots of time initially looking a different options. Glad inflatable worked that is cool. Love its simplicity.

Re: Interesting/Cool Scaling Mechanism Designs
 

Re: Interesting/Cool Scaling Mechanism Designs
 

How does 4060 ensure that as the balloon thing collapses when lifting up, that it stays within the 15" extension zone?

It doesn't look like it sticks too far out in the video but also seems like it could potentially end farther out.

I'm sure they thought this through so I'm just curious as to how they're solving that issue. I would think some strong attached to the middle with a spring or something could guide it to collapse back into the robot.

Re: Interesting/Cool Scaling Mechanism Designs
 

We had an idea like that but decided that it would have failed inspection under R77 and as clarified by Q688.

I don't know how 4060 did this, but we were considering a coiled wire or tube inside the inflatable that kept things from getting too far out of hand. Our first iteration would have been with a piece of lightweight dryer vent tube.

Re: Interesting/Cool Scaling Mechanism Designs
 

https://www.youtube.com/watch?v=SDcDmt2Or70

Link to a match where both us (226) and 217 scaled. We have a multi-stage lift made using rev-rail, and is connected to a series of constant load springs. The bottom of the mechanism is attached to a winch. At the end of the match the driver reverses the winch, allowing for the mechanism to go up, and then brings it down to scale. We used 2 cims for the scaler, and a back drive gearbox with a servo. I'm not sure about 217's scaler, but I think it uses similar tactics with a lock to firmly grip the rung.

Re: Interesting/Cool Scaling Mechanism Designs
 

I was told while spectating 4060 at Auburn on Saturday that they fill the tube using a fan, separating it from the pneumatic system. I believe they 3D printed many of the components.

Re: Interesting/Cool Scaling Mechanism Designs
 

It looks like that homebrew compressor was pushing a whole lot more than 1.1 cfm. If you're doing work with air, it's a pneumatic device. (Noted exception for closed cycle air springs.)

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If this is true, then all fans and fan-blown vacuum devices on FRC robots are illegal.

It is unclear to me what constitutes a pneumatic device. Obviously nothing custom can be connected to the "canonical" pneumatic system on the robot, which is heavily regulated.

EDIT: Vacuums are legal per R77. Other things maybe not.

Hard to argue that an inflatable tube hanger does not create compressed air.

Re: Interesting/Cool Scaling Mechanism Designs
 

I love the confidence with which you make your clearly wrong statement.

Re: Interesting/Cool Scaling Mechanism Designs
 

so how does a 3d printed fan fill a cheapo innertube to extend...?
could this be the work of a secondary compressor? (it may very well be the same work of the one original with a solenoid allowing for a tank to empty into it... or something... :/

also, i dont know that its the most consistent way to hook onto the bar, seeing as it wobbles here and there when they do it...

(again, please let me know if i have the wrong thought train here...)

(like, please... pretty please)

Re: Interesting/Cool Scaling Mechanism Designs
 

Custom Airblowers created from legal motors and fan parts are not constrained by the Pneumatic rules.

If you don't believe me please point to the rule(s) that prove what you are saying.

Re: Interesting/Cool Scaling Mechanism Designs
 

I guess we may never know the answer to the age old question:

How much SWAG is too much SWAG?

Our scaling mechanism proved to be effective.
One or two issues with hook delivery. Our hook got bounced out of holder due to bouncing around by we solved that

https://vimeo.com/161551049

We used two 200 lb gas springs with 16" stroke ganged together to pull 32" of cable
Once hook was positioned it never failed.

Re: Interesting/Cool Scaling Mechanism Designs
 

Wow that looked super fast. What made yall go with this decision verses a winch.