Most Unique Features
 

The purpose of this thread is to express what you believe are the best features of your robot, not the whole robot just the unique stuff.

Our robot has a lot of unique aspects going for it. It has meccanum wheels and is capabe of shifting between omni-drive and meccanum drive. We have an autonomous system that allows us to flip a switch, do a quick 15 second manuever and then play it back during autonomous mode. We call it Tivo mode and we can store up to seven recordings. Our arm is specially designed to keep the gripper parallel to the ground, and reach to the maximum length limit without going over it by using limit switches and potentiometers. We have a specially designed drive mode called funky mode that gives our drivers more precision at lower speeds. And last but not least our gripper motor is covered by a pop bottle!

Re: Most Unique Features
 

I think a really interesting unique feature this year was 2274's "mouse" that extended their ramp at the NYC regional. Their robot was equipped with a motorized minibot that deployed from under their frame to extend their ramp fully. It helped them avoid the issues that many gravity-propelled ramps had where the supports didn't fully extend while coming down, leaving the ramp just short of 12 inches. Plus, I think everyone who saw it would agree it was really cool! :D

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A robot that deploys another robot, that's a clusterbot, awesome!

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Wow!
It's 2002 all over again!

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My teams bot is chock full of uniqueocity(yes, it's a real word). The best part has to be what I like to refer to as the Overkill Arm. We have a sliding/telescopic arm that goes straight up. I know 612 has one very similar and I've seen a few around but this one takes the cake. Those arms extend to the top rack at the most. We, however, decided to go for the extreme, about 12 feet or so. If we put a long enough manipulator, we could unplug the rack. I'll try and get some photos up, you really must see this.

Chris

edit:wow, post 100!!

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Ya when you guys extended in the pits I felt like your robot was going to fall over and hit us.

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The most unique feature of our robot is that the ramps are made out of like metal shelving and wood. When the judges came around they thought it looked cool. Our ramps are lifting so the other bots dive up and we hit a switch the opens our scissor jacks. We got a 12" lift with only little stroke pneumatics. Here is some pictures:
http://www.chiefdelphi.com/media/photos/27601
http://www.chiefdelphi.com/media/photos/27553

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Team 537's arm has 6 axes of motion. 2 axes on the claw, a boom extension, an elbow, a mast extension, and a total arm rotation. The most unique feature of the overall arm is its ability to rotate at the base approximately 450 degrees. We love it b/c we can score while were being pushed around, although our tank style dt doesnt allow for that very much. Here is a picture.

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That's exactly what I thought when I first saw it. I kept thinking about all the teams in Zone Zeal and their minibots. Those things were so much fun, even if robots got tangled up in the teathers all the time!

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totally unique .. cant forget the chain tensioners and the casters! Ya your bot fully extended is freakishly tall

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Freakishly tall?! O.K., I'll give you that. I just uploaded a photo, so you too can see the majesty.

Chris

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I think this was a pretty genious idea. A ramp that is lifted by the drive motors. You see the two wood cams? The have rubber on the bottom of them. All we have to do is drive forward and the second bot is lifted with the cam. This is what you truly call keeping it simple.

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Ok, the photos are up. Go to the delphi photos and look for "2186 OverKill Arm".

Chris

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I believe the most unique feature of our (1824) robot is the hinge point for our ramp/platform. We hinged at the bottom of our robot, 3/4" off the ground. We then used 3/4" steel box tubing from the hinge point. This allowed the entire structure for our ramp/platform to be supported by the carpet (not just the ends). It can be seen here.

No chance for our ramp to buckle or get pushed around.

Re: Most Unique Features
 

Team 190's gripper uses one piston to both close our claw and raise the tube up to a 55* angle all in one motion. In addition, the top digit is a 4 bar linkage that curls around the tube, giving us maximum wrap, while allowing it to fit within our starting box. The grip surface is covered with 50 durometer Shore 00 polyurethane (similar to Dr Scholl's gel insoles in properties). The entire gripper weighs 4lbs including piston.

Our "wings" have a number of innovative features. They are made from sheet metal aluminum, and no one piece is thicker than 1/16". They have over 2000 dimpled holes in the top for strength and traction. Inside each wing is a complicated string system that activates various features automatically as the wings deploy:
1) There is a bungie attached to the outer wing sections that pull them out as the wings fold down.
2) One string attached to each of the three pistons keeps them within the starting box. These slacken to let them pop out.
3) A lexan anti-rollback device is also held down by a string which slackens with the bungie, allowing it to pop up.
4) the pistons lock into place with a ratchet system, to keep them from folding under when firing.

The wings have a constant slope of 12*, and an initial lip of 3/8". Thus, any robot with more than 3/8" ground clearance and sufficient drivetrain power can get up. The top lifting surface is 37.5" wide and and 36" long, so most robots can fit no problem. Once a robot is up, the pistons fire, raising them to 13". If the pistons malfunction or the robot does not make it up in time to fire, the anti-rollback device will keep them at 5" (these actually caught 1280 and won us SVR)

To reset, pins are removed from the capstans to unlock them from the globe motor shaft. The driver can then manually rotate the wings back into position.

When folded, the wings are held in place with cotter pins attached to a servo on the elevator. This doubles to keep the wings from deploying early, as well as providing strength and protection to the elevator.

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Your ramps were the only ones I considered equal (or better ;) ) than ours at BAE, and you had that wonderful arm too (I was sooooo green with envy).

What a great 'bot you all have there.

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Your ramps have to be the most (not over) engineered of any team out there. They're awesome. Goodluck

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Gotta give some love to the ramps on 461 - watching that unfold was awesome. And I'll never tire of watching 1555 or 1501 lift two robots well after the final buzzer. Last shameless plug: LOLLIPOP!

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our teams tube manipulator is extremely effective
using rubber rollers we simply run into a tube and it grabs it
we drive up to a tube and within a fraction of a second we have an extremely strong grip on the tube
it holds the tube at a slightly elevated from horizontal angle, about 30 degree, so it is easy to place on the rack
Inventor Submission, Look at bottom of file

Re: Most Unique Features
 

We designed our robot to do "drive by scoring." Meaning, we were able to score a ringer while still moving, thereby elimating a lot of the defense that would be played against us. The inspiration for this design came from two teams, Wildstang in 2005, and Rhodewarriors in 2006. Both teams scored off the side of their robots, and were able to use their drivetrains to ward off most defensive attacks.

We accomplished the same effect by allowing our grabber to rotate 90 degree to the left and right after picking up a ringer. The picture below shows the extra degree of freedom we have with our manipulator. As I said, in theory this mechanism works great. However, we found it very difficult to actually have any room to drive around in, nevermind a clear shot at any side of the rack. Fighting your way to/from the rack seems to be about the only way to score this year. (Unfortunately...)

Here's the picture of us in "drive-by" mode.

We powered this "wrist" mechanism with a window motor, geared down about 6:1. We tried two different codes to operate it. The first had the arm mimic the joystick position, so the co-driver had to hold the joystick in the position he wanted the arm to be in, with position feedback controlled with a gyro. The 2nd mode of operation allowed the co-drive to only use the joystick to move it to position, just like an elevator or arm. We then used a "home position" button to return the arm to it's vertical position, again controlled by the gyro.

Feel free to ask more questions. Hope it opens up some ideas for other teams.

BEN

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Our robot starts out in the 4 foot category, then locks up a 10 foot elevator. Anyone who saw it at PNW or Davis knows what I mean.

And we have two cameras. Because remember, it's as Mark Leon said at SVR last year: "CMU cam, it's just that easy." So we went with two.

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I absolutely love all of the features that our team was able to work into our robot this year (seen here), it's flippin' sweet! A short list:

Arm:
-Light and strong! I think the entire assembly weighs under 20 lbs with camera, motors, wiring, etc.
-Single jointed, runs off of a single 125:1 banebots motor (which has survived an entire competition with no problems at all)
-Completely modular: Mast comes off with a single bolt! Motor and joint mounts are held on with clamps so they can be easily adjusted with just two bolts.
-Awesome materials: 1/16" thick, 3" wide round alluminum tube for mast, 1/8" thick 2" wide tube for top part of arm. Neither are breaking any day soon.

Drivetrain:
-Made with 4" wide, 1/4" thick fiberglass I-beam. Fairly indestructable.
-Best part of robot: 4 out of the 6 drive trains on the robot have their tensioners built into our Andymark transmissions. They weigh virtually nothing and take up almost no space. (seen here)

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One neat feature that caught my eye this year was the "easy button" feature from team 386 (Voltage). They have an easy button mounted by their gripper, so when they are ready to score, the easy button is right in the middle of the tube. When the easy button hits the plates on the spider, the grabber automatically lets the tube go and caps the ringer.

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Two unique things about our robot:
Our kicker wheel - it picks tubes off of the floor and turns them vertical
Our grabber - it opens from the inside of the tube, and holds the tube vertically. The long arms of the grabber act as guiding mechanisms so that when we drive up to the goal, the spider foot is pushed into the center of the grabber, where an IR sensor triggers closing the grabber, which shoots the tube onto the goal.

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The things unique... our transmission, gripper, wheels.

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This system really was quite elegant, and anybody unlucky enough not to see it needs to come to Indianapolis for a private showing. Winner of the BMR Xerox Creativity Award, and well-deserved.

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One of the nicest things about our robot is the modularity of it all. The entire ramp mechanism can be detached with two bolts, the pneumatics system and support frame for our ramp can be detached with four, each drive module can be detached with four, and the electronics board can be detached with four. The connections to the pneumatics board (all eight spikes) are all done with 15 pin connectors, and the motors are connected to the main electrical system with mini Anderson connectors.

The most unique design factor is our ramp. The following animation shows how it works.



Another nice feature is the built in wheelie bars on our drive modules. If you were to loko at our bot, you wouldn't even realize that the curves did this. The wheelie-bar effect can be seen in this next animation.




And Unique in the fact that we were one of the few teams that decided to go for a low-scorer is our arm. Only the bottom rung, but man can we score fast. ~5 tubes a minute now that we've gotten a little practice. (I'll throw the animation in for kicks, too) :D

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Those rollers were actually polyurethane, no?

And of course, we can't fail to mention the uniqueness of our control system ;)

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Our most unique aspect would defenitly be our spine arm. Even though we had programming problems at the florida regional but those are fixed so look out for some crazy onidirectional tube pickupage!

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The most unique feature on our robot is it's claw which is similair too but nowhere near as cool as the '05 claw.
But at least we have the only manipulator that can give the other robots "the finger"!:p

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Your pickup and gripper may have been one of the coolest things I have ever seen operate on a FIRST robot.

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Anyone else have a pair of Reeboks on their robot?




I'm not talking sneakers, 2 RBK 6k stiff flex hockey sticks. Nice & light and made to take a beating.

the one on the left

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Our robot is pink...PINK!!
haha

besides that I like our drive system...mainly because I suggested it. It encompasses only one drive wheel on each side, both in the middle. Then four caster on the corners. It can spin 360, which is cool. Nothing compared to meccanum, but it's still pretty cool.

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sorry koko....we too can give "the finger"

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And here I thought you guys got a Reebok sponsorhip....:rolleyes:

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does having Jesus on your controls count as a unique feature?

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We can retract our ramps if something goes wrong. We've got a Banebots on each, extremely geared down. (Arguably the biggest sprockets I've seen for #25 chain in FIRST on the ramp end, and a small set on the motor end.) Also, our hidden pneumatic gripper actuator. It's buried in a fiberglass tube.

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Well if we ever get hooked up in an allince together we can be the "most offensive" alliance.:D

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For us, I would have to say our gearboxes. Heres another thread on it http://www.chiefdelphi.com/forums/sh...ad.php?t=54420

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In more ways than one ;)

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I think that a unique feature of G.R.R.'s robot is our arm lifting mechanism, two sets of drawer sliders rigged up as a block and tackle pulley.

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We have an extendable ladder, that you can climb 8 feet up on. Unfortunately, it's not quite stable enough to actually climb.
I don't have any pictures right now.

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This is our robot. (unpainted)
It's unique features:

1. Through a strange system of pullys, the arm can extend to the top row.

2. A ramp is built into the chassis. The ramp is made of 2 triangles forming a rectangle that unfold to form a ramp.

3. The ramp is deployed using the arm. Through extending, the arm can push the ramp away from the rest of the chassis and into position.

4. The ramp, once in position, can be lifted paralell to the feild and lift 2 robots 14 inches.

5. To increse the width of the ramp, the ramp's plates are hooked to a system of bungee cords that, when the ramp is lifted, pull the plates outwards and greatly increse the ramp's width.

:D :D HOPE YOU LIKE IT!:D :cool:

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Oh and i forgot to say our robot has a digital compass so it knows were its facing relative to north so we can use drivercentric control. Its pretty sweet we can make the robot auto correct itself to face forwards again or because of our mecanum wheels it can go to my forwards no matter what way it faces.

Re: Most Unique Features
 

116 has a slew of unique features on our '07 bot.

I'll start with our control systems. We have the latest iteration of our "control box" design, which serves several purposes, including protecting our control components, cooling the components, and allowing easy access to them between matches (see 2005 thread).

You may notice that on top of the RC is a circuit panel with an LCD. It is mounted in a clear polycarb case, with a "D-Pad" and selection button, and allows for us to change autonomous plays, and check basic diagnostics on the fly. We are working on getting the kinks out of the ability to actually write new autonomous plays from the LCD as well.
Our arm is simple compared to many that we have competed against. It has a shoulder joint powered by two globe motors, and pneumatic actuated wrist and claw (both rotate on the same axle). The arm is comprised of two pieces of aluminum box channel, one segment is 1.5"x1.5" and another is 1"x1". The 1x1 can fit withing the 1.5x1.5 at the start of the match, allowing for the length of the arm to fit in the starting size requirements. A piece of surgical tubing is attached to an eye bolt which is attached to the inner tubing (and fits through a channel milled in the outer tubing) at one end, and the outer tubing at the other. The eye bolt fits behind a bar in our shoulder joint at the beginning of the match, holding it in the retracted position. When the arm is raised, the surgical tubing pulls the inner channel outwards, extending the arm (where it can score on all 3 levels and pick up off the floor). The eye-bolt then locks in the extended position.

Re: Most Unique Features
 

868's robot is the most unique robot this year! well, IMHO anyway.

Here is a picture of the all the robot's features




We are one of the few tube picker-placers without an articulating arm
Also, we are one of the few robots that hold the tube from the inside, and the only team (to the best of my knowledge) that has a 'kicker' wheel, which picks the tube up extremely quickly, and is has the same effect as if you were to just step on one with your foot.

At BMR, at the start of the match, we regularly picked up a tube and scored it in less than 7 seconds :eek: (after that, it was heavy defense against us, so we weren't as quick).

Also, I like our liberal use of sensors, 2 limit switches to detect when the tube is up on the 'antlers', a range finder to detect when its O.K. to pop the tube off onto the spider leg, and then also the 2 optical sensors that know how high the arm is, and the PID we use for positioning.

Heres a picture with the shell hiding my hideous electronics job :p

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I think I've made it quite clear how awesome and unique I think your robot is, we were honered to be in you alliance at Boilermaker. Good luck at the Championships.

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http://www.chiefdelphi.com/media/photos/27214
http://www.chiefdelphi.com/forums/sh...ighlight=wheel

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When I say we spent six weeks designing our robot I mean we spent six weeks designing our tube manipulator.



We carefuly prototyped every part of it to make sure the final design would work perfectly.

-Urethane belts give extra traction
-belts aranged in a "V" configuration - work like rubber bands
-Made from 9 ply baltic-burch plywood - very light and strong
-Lego tires for added pick-up traction
-Uses two game buttons to sense tube orientation
-All pulleys are covered with individual plastic guards to prevent belts from falling off.
-The belts cannot be removed without dissasembly
-Can rotate, shoot, or suck tubes (or cakes)
-It also looks cool:cool:

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Haha why yes it does! That is a darn nifty feature you have there lol.

As for 102's most unique feature, I'm going to have to go with our ramps. Even though very few pepole have seen them in action, they are pretty amazing. We are hoping to actually show them off in Long Island haha. I mean the robots drive on and we do the lifting... saves the others from having to do more work than they already have to in order to get the bonus points.

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Our "Unique" feature is actually a combination of a self-activating wrist which enables us to also do a "drive-by" (ironically we used the same term) and an automatic loading program. The wrist holds the tube vertically and folds back as it meets the pressure of the rack. As enough pressure is applied (caused by forward driving) the limit switches open the claw automatically--loading the tube.

This system is complimented by a series of auto settings that put the 4 axis arm into load position with the push of a single button after picking it up off the floor, human player or wall.

We think that the beauty of this design is that it essentially takes the sway of the rack and height out of the equation. Similar to top-down loading you are given a greater room for error and still hit the target. The difference is that side loading took out the sway factor--though the top-down loaders seem to be quit fast.

We worried too about the pushing and shoving around the rack so we went with the elevation, rotation and extention capabilities to hopefully overcome some of that. If pushing and shoving prevent this at times, we can easily resort to front loading even over another defender--in theory ;)

We'll see at the Long Island regional and in Atlanta.

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We do, but we covered the RBK logo because they aren't our sponsors. I think they are the same sticks as well and we even use 2 like you. Our arm is raised with a ball screw and nut.

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[English Nazi]Not a real word. (see this). Sorry bub. [/English Nazi]

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Ours can, too! Well, if you have an imagination anyways.

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Our arm has an index finger and a thumb, so we can sort of point at stuff...

Hey, Look at that!

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this was easily the most unique feature at SVR. not only does it look awesome but it works very well. this feature made Team 100 the team to beat on tube scoring at SVR

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Um... our arm has a auto-retract and auto-wrist leveling feature to stay within the 72" rule. We also use something like 10 motors (I'm not sure, haven't counted in a while). Our drivetrain has 6 (or 5, not sure), our arm takes three... so maybe it's 8 or 9 motors. Hm. Our shoulder joint uses the fisher price motor but if you look at it the linkage should not work... I don't have a picture but you can see it in Atlanta. Even I had to take a second look at it. Kudos to whoever guesses what I am talking about first! LOL.

Re: Most Unique Features
 

868's robot intrigues me the most out of all the robots I've heard about. I look forward to seeing them do work in Atlanta.

Now allow me to toot our own horn. While I don't find our robot completely groundbreaking, I'd say we have a pretty unique robot.

Our drivetrain is a true swerve drive, with each wheel being independently steered. In addition, we have 3 speeds available to us, and the modules are constructed mostly of round tube. I don't have any pictures at the moment, although a lot of pictures were taken of them at Detroit and Great Lakes by others.

In addition to a 3-speed swerve drive, we also have a huge ramp with enough room for three robots with a 14º incline. Our arm has a section of ramp on the back and folds down as well to make more room. My favorite features is that the flag is mounted on a section of ramp that unfolds, so it has a spring in it to self-right when we deploy our ramps.

We also have an arm that can score quickly and effectively and on all three levels. It's a combination single pivot and single stage telescope. I'd say its capabilities are on par with some dedicated arm bots.

Plus, one feature I have yet to see on any other robot is our tennis racket electronics board. It started out as a random idea that actually provided several benefits. By several I mean two: it keeps our electronics well ventilated, and it's easy to change out burn out victors and spikes, as they're attached by zip ties.

Again, none of this stuff is truly groundbreaking or exciting, but the fact that we were able to stuff as many features as we did in a 119.8 lb robot is pretty nifty in my opinion.

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One of the most unique features on our bot was that our manipulator was cut out from a spackle bucket. :yikes:

Delphi "Driving the Future Of Technology" Award. :D 2007 NYC

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I have to say that ours would be our suction device "Project Easteregg the Suction Cup Alien named Paul"

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A feature that 1618's robot has this year that its past robots didn't? It's tall. ;)

I can't say that there's anything particularly innovative about "What robot?"* this year--when I did any design work, I immediately looked back to what had worked in the past. Borrow 1293's 2006 drivetrain, add a speed, and switch your source of rolling stock from Texas to Indiana, and there you go. For the arm, borrow loosely from one picture of 330, add a wrist to let you reach the floor, and make it so fast, you'll be glad you're behind lexan. (I'll have to find the video on my iBook to post.)

The arm is all PVC and angle aluminum, with a little bit of flat to mount a 12:1 BaneBots gearbox. (Granted, I'm still a little worried about running a BaneBots gearbox, but we felt the loads it'd see, both normally and otherwise, aren't going to be as severe as what it'd see (and wither in the face of) on a high-grip drive system.) The second stage is the Denso motor handling a little bit of PVC; I don't expect that exact end effector to see action on Friday, but its replacement is currently a known unknown. (Good thing we can bring bandsaws to events again...)

The drive system is an AndyMark two-speed, with gearing through sprockets for fast and faster. I've got a few ideas percolating for Palmetto as to how we can best use that to our advantage. (I've also got a few more ideas percolating as to how we can handle defense better if need be, since this competition is proving a just a smidge more physical than planned.)

Perhaps more unique is that we were able to do all this with seven kids, one engineer, a PLTW teacher, and a slightly-eccentric marketing major, in a room with two bandsaws, a grinder, a couple of drill presses and a chop saw**, and still come in about ten pounds underweight as of ship day. It might not be the prettiest dame at the ball, but we hope to fill up its dance card.

*That's another unique feature to this year--it's got a name!

**Chop saw.

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if i had to pick a unique part about our robot, i would say it is the "foot" under the gripper. this is a flat piece of polycarbonate that flattens to the ground when the arm reaches the ground. it works much like a doorhendge.

http://metalinmotion.com/

scroll down on the sit for a picture.

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arcade buttons FTW

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Our robot has two small wheels on the bottom of the gripper to help pull the tubes in, then a limit switch triggers a pneumatic to grip the tube so it can lift them.
It also has pre-set limits on the arm for each level of scoring.. so that is one more thing the drivers don't have to worry about getting so precise.
:ahh:

Re: Most Unique Features
 

You forgot about team 79 (krunch) who was one of the fastest robot scorers that i saw at the Florida regional.

Re: Most Unique Features
 

at buckeye i saw two very cool things

1. one of the martians, maybe both, had a full window's computer onboard. they were going to use it to pick up tubes and place it on the rack without using the cmu-2 cam. it was truly amazing

2. the killabytes i believe had these ultrasonic sensors and were doing some great work to program them on the practice field when i saw them. it was real interesting all the work that goes into a project like that.

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We also picked up tubes via what we termed a "spreader" design, a claw which would pick up rings by exerting pressure on the inside of the tube. Pics to come...

Also, I'm not sure if there are many (or any) pictures of 207's claw. I saw the robot at LA and they had a fully articulating wrist on the robot which a 3-fingered claw. Very complex and cool...

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I don't know how to post pictures on a thread reply yet (if anyone wants to tell me that would be great), but here are photos of the "spreader" Emilio was talking about.

http://www.chiefdelphi.com/media/photos/28017

http://www.chiefdelphi.com/media/photos/28018?

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that was our origonal design but we voted that it would take too much time to line up an grab. and its also alot harder to remove spoliers (as if its not hard enough as it is). I think that it gets a much stronger hold though. The arm design we ended up with is 12 inches long and has shifting size pneumatic that powers the finger, it works great except that it too weak under 45 psi.

Re: Most Unique Features
 

we had a great roller-based grabber (like 100). actually, we had three. the SVR one was popping tubes!
we also used a gas spring instead of surgical tubing to take the load off of our arm, and allow us to use the window motors to move our arm, which did have two motors on the end of it for the rollers. the part is pretty unique... i'll try to upload a pic when we can get back into our lab later this week.
they may not be the most elegant features, but they're pretty useful.