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-   -   Rack 'n' Roll Manipulators (http://www.chiefdelphi.com/forums/showthread.php?t=88489)

Mr_I 09-01-2011 20:08
Re: Rack 'n' Roll Manipulators
 
Back in '07, nine rings of each color started on the floor (stood up against the Alliance Wall), and tubes could be passed into the field via vertical slots.
However, my guess is that this year like '07, LOTS of tubes will be hurled over the Alliance Wall.

TD912 09-01-2011 20:35
Re: Rack 'n' Roll Manipulators
 
Quote:
Originally Posted by Mr_I (Post 994978)
Back in '07, nine rings of each color started on the floor (stood up against the Alliance Wall), and tubes could be passed into the field via vertical slots.
However, my guess is that this year like '07, LOTS of tubes will be hurled over the Alliance Wall.
This year there's an opening in the Alliance Wall (the Feeder Slot) where you hand off tubes to the robots. Of course, if you drop a piece you will need a way for the robot to pick it off of the field.

Mr_I 09-01-2011 21:53
Re: Rack 'n' Roll Manipulators
 
Quote:
Originally Posted by TD912 (Post 995019)
This year there's an opening in the Alliance Wall (the Feeder Slot) where you hand off tubes to the robots. Of course, if you drop a piece you will need a way for the robot to pick it off of the field.
Yes, I know there's a slot; there was a slot in '07 as well (vertical compared to this year's horizontal). However, the slot is at the end of the lanes, which quite frankly are a long way to go to get a single game piece. IMHO, lots of pieces may be thrown over walls to speed up the process, even though it will admittedly risk your opponent getting the piece you threw in.

ttldomination 09-01-2011 21:54
Re: Rack 'n' Roll Manipulators
 
Quote:
Originally Posted by TD912 (Post 995019)
This year there's an opening in the Alliance Wall (the Feeder Slot) where you hand off tubes to the robots. Of course, if you drop a piece you will need a way for the robot to pick it off of the field.
Quote:
Originally Posted by Mr_I (Post 994978)
Back in '07, nine rings of each color started on the floor (stood up against the Alliance Wall), and tubes could be passed into the field via vertical slots.
However, my guess is that this year like '07, LOTS of tubes will be hurled over the Alliance Wall.
Both of these points are valid. When my team goes to pick a human player, I'll definitely recommend lining people up, putting a 8ish feet wall in front of them, and then seeing how far they can chuck it. Why have your robot make the 50ish feet trip if it doesn't have to.

- Sunny

Grim Tuesday 09-01-2011 21:56
Re: Rack 'n' Roll Manipulators
 
Quote:
Originally Posted by ttldomination (Post 995152)
Both of these points are valid. When my team goes to pick a human player, I'll definitely recommend lining people up, putting a 8ish feet wall in front of them, and then seeing how far they can chuck it. Why have your robot make the 50ish feet trip if it doesn't have to.

- Sunny
On the other hand, why take the risk of an opponent robot stealing one of your rings when you dont have to.

AcesJames 09-01-2011 22:00
Re: Rack 'n' Roll Manipulators
 
Quote:
Originally Posted by DonRotolo (Post 994808)
In 2007 the Rack posts had a 9" diameter disk on the end; with tubes having a 10" ID, many teams decided that a manipulator that gripped the inner diameter of the tube would interfere with placing tubes on the rack. Thus we saw a lot of teams with grippers, and not as many with inner-diameter-grabbers.

Nice photo, thanks. I see what the upper elbow joint is made of, but can you describe the lower elbow joint for me?
The lengths of the arm are made of the KOP C-Channel rail, and the joints are made of CNC'd aluminum plates that hold both the C-Channel together, and the motors that power the joints.

Our elbow had a yaw powered by 2 motors, so the whole arm could move side to side. It also had 2 Window motors in parallel to raise and lower the arm. At the wrist, we used 2 more Window motors in parallel to raise and lower the grabber, which was actuated with a pneumatic cylinder.

More detailed pictures:
http://aceshigh176.org/gallery2/main...serialNumber=2
http://aceshigh176.org/gallery2/main...serialNumber=1
http://aceshigh176.org/gallery2/main...serialNumber=2

The whole arm assembly has 6 motors if I remember correctly. It was a little overdone I think. :yikes:

Robert103 09-01-2011 22:03
Re: Rack 'n' Roll Manipulators
 
Its also important to consider that there aren't only circle tubes this year. I would think a mechanism that picked pieces up from the center (which is relatively uniform) would be easier than trying to accommodate the different shapes.

TerryS 10-01-2011 04:37
Re: Rack 'n' Roll Manipulators
 
A big mahalo to all of you for sharing your thoughts on this topic.

Quote:
Originally Posted by Trent B (Post 994052)
This is worth a perusing as well if you can find a copy at a library or find someone who you can borrow it from.
http://www.amazon.com/FIRST-Robots-R.../dp/1592534112
There's a lot of great info in this book. A couple of the designs (Teams 1987 and 386) used vacuums to pick up the tubes. Does anyone recall how well these worked? I would think that if they got bumped hard that they would drop the tube.

Quote:
Originally Posted by BIGWILLI2081 (Post 994076)
http://www.chiefdelphi.com/forums/sh...ight=best+tube
check out these threads for information.
Wow...lots of good designs mentioned here. Going to take me a while to look up all of these.


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