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pic: Toltechs drive-train teaser
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Re: pic: Toltechs drive-train teaser
Love to see that good zip-tie engineering. Also, I guess the holonomic base looks cool. But zipties! And yellow zipties at that! Nice.
Hope to see the Toltechs back at Lone Star this year. |
Re: pic: Toltechs drive-train teaser
Let us know how the zip-ties work -- clever engineering. We used foam hose-bib freezing covers over our first rollers. They worked great and didn't weigh anything -- sort of like your zip-ties. Good luck.
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Re: pic: Toltechs drive-train teaser
There must be an award somewhere for Most Elegant Use of Zip-ties...
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After looking at this pic again, I like it even more. It looks like it was made by students. It uses parts in a clever way. It didn't cost $10,000. Well done!
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Oh - I just thought of something - you probably have already visited it...
If you use more than one ziptie per loop - put one into the the head of another one, etc - you could get longer tails for the ball collection, and more of them, spaced evenly around the wheel. I have to say this, even though it may make some people uncomfortable, but I truly love zipties. They're so elegant - permanent, yet disposable. Strong, yet flexible. Ubiquitous, yet somehow.... special. I was seriously more excited about the collector than the obviously cool part of the picture: a 4 wheel holonomic base. |
Re: pic: Toltechs drive-train teaser
looks great guys. Just wondering, did you happen to get your collection idea from the bristles on a vacuum? I don't know, it just reminds me of a vacuum. The 4 wheel holonomic base looks awesome, I can't wait to hear how it handles the ramp.
JT 229 |
Re: pic: Toltechs drive-train teaser
wow thats pretty high up. are you going to be able to suck in the balls that roll in from the sides too?
or better yet from all 4 sides?? if i had holonomic drive thats what id wanna do. otherwise, i love the spiral. someone has a lot of time lol |
Re: pic: Toltechs drive-train teaser
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I am seriously hoping that this thing drives tomorrow. We are 8 inches off the floor with the frame so that balls can move under from 3 sides and be whisked into our con-VADER. The idea of the omni-drive is that if balls are boucing and rolling over the court, one just swerves to the side and harvests them. Like I said though, it is untested and we have to put the belt/fabric on the con-VADER and then mount our cannon. Weight is becoming an issue :yikes: Thanks for the positive comments and yes the students did describe their ball sweeper design to the mentors as,"You know ... like under a vacumm cleaner" :cool: |
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This must have come to me in a dream. I'm sure it's not the design we are using on Top Gun. :] Incidentally, this is a testimony to prototyping. We would have a sloped ramp with a curved Lexan floor sweeper (which would act just like a bulldozer blade and knocked balls out if we hit them going fast) and two rollers if we hadn't built three prototypes of this. Now we know exactly what geometry will work, and how fast the belt needs to go. Not that this is our design or anything... |
Omni wheels a partial no on ramp
Okay for those that said No, you are partially correct. I think we can live with our design. Video of the robot will hopefully be posted this weekend on our team's discussion board.
The robot drove good the first time with the code. When they added in code and control for zero degree spin, that worked the first time as well :D We can get up the ramp if a second robot is behind us keeping the robot from spinning and rolling down the ramp when the front wheels are about 3/4 the way up the ramp. I know this because I was able to put my feet on the back end while seated behind the robot which keep the angle of attach perpendicular to the ramp. Once the front tires get over the lip they are back on a level surface and pull the robot over the top. It is a lot of spinning wheels :yikes: So one of those alliance partner robots with the IFI or AM traction tires gets behind us we are up and on without too much work. On the plus side, it is way to cool to swerve or strafe :cool: |
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This is actually the same exact idea that I had towards the beginning of the season. We are not using it either though... |
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Promised Video
As promised, mentor D. Sean Kelly did a quick edit and uploaded a .wmv to our site, you can view the first cut of our robot driving in the shop. Not seen in this video is the code addition which allows us to complete zero degree spins in C.W. or C.C.W. via a second controller. :cool:
http://www.toltechs.com/Rocket/Uploa..._Holonomic.wmv |
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Love the video - that base looks slick. Do you have closed-loop speed control over the wheels? It looks like the lines it's moving in are way too straight to be from open loop motor commands. Of course, I've never built a base like that, so what do I know.
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Now how best to get closed-loop feed back from such a drive. Encoders on the wheels may be one way to ensure that all the wheels are spinning at the desired rates but with the large amount of scrub in such a system we are not certian that solves the problem. What does provide true feed back would be one of the electronic chips. Gyro / 2D accelerometer We are getting those items wired and the programmers will work with those a bit while they also work on the camera system being the feedback system for shooting solutions. :ahh: Lots of work to do in just two weeks. :eek: |
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Looks like you guys are wel on your way to having a drivable holonomic system. Good luck with that!
Just a question, have you guys tried doubling up the omniwheels with an offset so that theres always a roller in contact with the ground? We found it to work better with 2 offset wheels, basically the problem without the offset is that without it, the wheel isnt really round, so it bounces and doesnt slide quite as well. Good luck to you guys and i hope to see you in houston! |
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work now is focused on autonomous modes and getting the mechanics of the ball harvesting complete and shooting :) Thanks, APS |
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