Citrus Circuits 2016 CAD Release
 

Team 1678 is proud to release the CAD of its 2016 Robot, Adrian! In 2016 FIRST Stronghold, Adrian won the Central Valley, Sacramento, and Silicon Valley Regionals. Then, at the FIRST World Championship, we, along with Teams 148, 364, and 2990, became Hopper Sub-Division Champions and FRC Championship Semi-Finalists. Adrian is set to compete at Chezy Champs, Capital City Classic, and Madtown Throwdown in the 2016 off-season.


You can find the model files (STEP) as well as selected renderings in our GrabCAD library. Or, if you are interested in viewing the model but not downloading it, visit our SketchFab model. These links will also be available on our website under “Resources”.

Please email frc1678@gmail.com or 1678mechanical@gmail.com or PM me if you have any questions about our robot design or team.

Re: Citrus Circuits 2016 CAD Release
 

Thanks for sharing this amazing resource!

Re: Citrus Circuits 2016 CAD Release
 

Thanks for this release! Are you also planning on releasing your code?

Re: Citrus Circuits 2016 CAD Release
 

Thank you so much for sharing this! It's a truly amazing design.

Re: Citrus Circuits 2016 CAD Release
 

Thanks for sharing! I never knew the robot had a name. How did you come up with it?

Re: Citrus Circuits 2016 CAD Release
 

Thanks for your interest! We named the robot after a beloved mentor, Adrian Clark, who unfortunately passed away last year. We hoped that the robot could help honor the years of contribution and impact he made on the team.

Re: Citrus Circuits 2016 CAD Release
 

We will indeed be releasing our code! Look out for a post about it in the coming weeks.

Re: Citrus Circuits 2016 CAD Release
 

Thanks!
I had a few questions.

1. What was the reasoning behind using a mix of pneumatic and colson wheels?
2. How do you mount your bumpers?
3. How did you manufactor your hubs for your shooter wheels?
4. Where did you get your bumer material? I asked you and one other member of your team at world's but some media group came to interview you while I was asking.

Thanks in advance for your answers :]

Re: Citrus Circuits 2016 CAD Release
 

Thanks for asking!

1. We went for a ten wheel drive and six inch wheels so that we could achieve the desired wheel configuration (with a four-Colson drop) while still being able to clear the Class B and D defenses. The pneumatic wheels absorb shock during crossings while the lowered Colson wheels provided a stable turning base for our shooting align.
2. We mounted the bumpers to two sheet metal plates that were attached to the front and back of the drivebase and bent vertical. Those places interfaced with bolts mounted to the inside of the bumpers and wing nuts that we tightened on each match. Between the plates, we also added some 1/2" tube to support the 1"x1" frame that made up the bumper structure (and was attached to the bumper).
3. We manufactured our hubs from stock Delrin round on a lathe to an OD few thou over the ID of the roller, then drilled, reamed, and broached before pressing the hub into the wheel. The press fit was more than enough to keep everything together. In fact, we had more trouble with the wheels de-laminating from the stock tube hub than anything.
4. At our Regionals, we used the ballistic nylon that we have used in previous years from Rocky Woods. At Championships, we switched to a thicker Sail Cloth much like 254 uses.

Re: Citrus Circuits 2016 CAD Release
 

Thanks for the quick answers! Here's a small follow-up to the above answers.

• I know you had to use saftey wire to prevent the wheels from delaminating. Around what rpm do they start to expand?
• Where did you buy the Nylon? We tried the robopromo material while another local team used the andymark nylon and we both found it to rip very easily.

Congrats on your successful season. Your robot has a lot of care taken in the little details, your constant Einstein appearances aren't a coincidence!

Re: Citrus Circuits 2016 CAD Release
 

Thanks for your reply! I'm sorry to hear about your mentor's passing.

I have another question :). Can you provide details on the actual construction of the bumpers? I'm also interested about how you worked with the lowered portion on the back of the robot. I ask because we have a similar setup on our robot (seen in the lower right here) and are looking to make a set of one piece bumpers for our off-season events but aren't really sure where to start.

Re: Citrus Circuits 2016 CAD Release
 

Thank you for this resource!

Can you explain how you guys got and implemented your disc brakes?:confused: I can't tell from the STEP file.

Re: Citrus Circuits 2016 CAD Release
 

The brakes are not in the cad, but the mounting holes are. We used avid bb5s on this year's, and last year's robot. Adrian designed custom hubs that we copied for this year. The hubs use a standard bike hubs bolt pattern with a .5'' hex hole in the center. We actuated the brakes by pulling a bike cable with a piston. The pistons have a clevis with a hole drilled in to it in order to fit the end of a mountain bike cable. We were not sure where we would have room to mount the pistons so we designed a sleeve that threaded on to the front of the cylinder that would allow us to mount the piston wherever we wanted without needing to be rigid. The sleeve has enough room for the piston to fully extend with the clevis and a small hole in the end for the cable to go through, but not large enough for the cable housing. The brake actuates by having the cable housing be a fixed length touching the end of the piston sleeve and the end of the brake while the cable is pulled though it.

Re: Citrus Circuits 2016 CAD Release
 

The structure of our bumpers was primarily a 1"x1" Al tube frame that sat on plates bent vertical at the front and back of the robot and 1/2" tube that connected those plates. Onto that 1"x1" frame, we attached the plywood for our bumpers at the vertical positions we desired (elevated at the front, angled down the sides, lowered at the back). Lastly, we added some brackets on the corners to help strengthen the wood. It turns out screwing into the 1"x1" frame was not quite enough for Stronghold. After that, we just wrapped with the noodles and bumper fabric.

Re: Citrus Circuits 2016 CAD Release
 

https://www.youtube.com/watch?v=vOYEp6tjQDg

Problems start at 5000-6000 RPM with delamination. Safety wire had a pronounced improvement over durability.

Re: Citrus Circuits 2016 CAD Release
 

Thank you so much for releasing this. Definitely one of the most effective robots I have seen.

Re: Citrus Circuits 2016 CAD Release
 

This CAD has so many tiny golden nuggets of how to make things more reliable. Appreciating the details takes time, and I'll have to pull myself away to get back to work... for now...

Do you guys weld your drive train frame?

Re: Citrus Circuits 2016 CAD Release
 

Thank you!

We do not weld any part of the robot. On the drivetrain, we stuck to a mix of regular Al 5052 pop rivets and high-strength Al ones off McMaster. We've found that will nicely toleranced holes and enough rivets, welding hasn't been necessary. Still, there have been several instances where welding would have prevented gusset assemblies from loosening over the competition season. I strongly doubt we will move to welding any large assemblies on the robot in future years, though.