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Chris is me 20-02-2011 18:38

pic: 2791 Starting Configuration
 

MrForbes 20-02-2011 18:40

Re: pic: 2791 Starting Configuration
 
That's a really neat idea!

;)

Chris is me 20-02-2011 19:54

Re: pic: 2791 Starting Configuration
 
No idea where that came from, nope...

We stepped up the PVC tube diameter for a bit more rigidity than your system. It's paid off pretty well! Now that I think about it, our robots are dramatically similar this year...

Andrew Schreiber 20-02-2011 20:26

Re: pic: 2791 Starting Configuration
 
How do you hold an ubertube for auton?

MrForbes 20-02-2011 20:30

Re: pic: 2791 Starting Configuration
 
I expect they'll have to pick it up off the floor. Probably requires a bit of forward/backward driving to get it.

thefro526 20-02-2011 20:36

Re: pic: 2791 Starting Configuration
 
Did you guys have something really cool in your base or was that guy just admiring your work?

Anyway, the bot looks awesome - get those guys some practice and it'll do great.

Chris is me 20-02-2011 20:37

Re: pic: 2791 Starting Configuration
 
Quote:

Originally Posted by Andrew Schreiber (Post 1027811)
How do you hold an ubertube for auton?

Unfortunately, the gripper open breaks starting configuration, so our plan is to floor load. It probably will take more time to tune than we have to make it work (we have a Thursday) but oh well.


Quote:

Originally Posted by thefro526 (Post 1027817)
Did you guys have something really cool in your base or was that guy just admiring your work?

Anyway, the bot looks awesome - get those guys some practice and it'll do great.

We've got a removable electronics board and cantilevered drive. They look cool!

We don't have much time for practice, but luckily we have a veteran driver waiting to get his hands on the bot.

R.C. 20-02-2011 20:40

Re: pic: 2791 Starting Configuration
 
Chris,

Great robot, did you guys not have weight for an aluminum arm?

-RC

Chris is me 20-02-2011 20:42

Re: pic: 2791 Starting Configuration
 
Quote:

Originally Posted by R.C. (Post 1027823)
Chris,

Great robot, did you guys not have weight for an aluminum arm?

-RC

We're well under. PVC was cheaper, more available, and could more easily slide within each other without the need for any actuation. It's also easier to work with.

We bought very large (2.5" outer stage) PVC to ensure there'd be some rigidity in the arm.

MrForbes 20-02-2011 20:45

Re: pic: 2791 Starting Configuration
 
We have enough rigidity with a 2" outer arm and 1.5" inner. It wiggles, but that's not a problem. Using ABS lets us have less weight and a more robust arm, but as you noticed the only 2.5" you can find easily is gray electrical conduit.

Andrew Schreiber 20-02-2011 20:49

Re: pic: 2791 Starting Configuration
 
Quote:

Originally Posted by Chris is me (Post 1027818)
Unfortunately, the gripper open breaks starting configuration, so our plan is to floor load. It probably will take more time to tune than we have to make it work (we have a Thursday) but oh well.

Perhaps look into a single shot piece that holds the tube to you and your arm grabs from at the start of match. 27 did something like that in 2005 and it worked pretty well. The last thing you want is to introduce MORE human error into your auton.

Chris is me 20-02-2011 20:55

Re: pic: 2791 Starting Configuration
 
Quote:

Originally Posted by Andrew Schreiber (Post 1027835)
Perhaps look into a single shot piece that holds the tube to you and your arm grabs from at the start of match. 27 did something like that in 2005 and it worked pretty well. The last thing you want is to introduce MORE human error into your auton.

There really isn't a good place to put something like that. The arm has a very limited range of travel so it can't bend around a corner to grab something weirdly placed.

Current plan is to put tube on ground touching bumper. Back up, extend arm, open gripper, drive into tube, close gripper, proceed with auton.

MrForbes 20-02-2011 20:55

Re: pic: 2791 Starting Configuration
 
might want to add "push tube forward" in there somewhere

Joe Ross 21-02-2011 11:17

Re: pic: 2791 Starting Configuration
 
Quote:

Originally Posted by Chris is me (Post 1027847)
Current plan is to put tube on ground touching bumper. Back up, extend arm, open gripper, drive into tube, close gripper, proceed with auton.

That's what we did in 2007. I think we missed only once in about 50 matches.

KleinKid 21-02-2011 11:34

Re: pic: 2791 Starting Configuration
 
Team 3735 is earliy similar to this but our system is a little more sturdy i think. We used 1" aluminum inside of 1.5" aluminum and instead of gravity for extension we rigged up a 1.5" bore pneumatic piston. Being able to retract the arm during the game makes driving around and placing tubes on the rack much easier.

I'm very jealous and curious of your 7 victor controlers on your electronics board. 4 are probably for the CIM motors on your drivetrain but what are the other three used for other than controling the arm?

TheOtherGuy 21-02-2011 11:45

Re: pic: 2791 Starting Configuration
 
Quote:

Originally Posted by KleinKid (Post 1028303)
I'm very jealous and curious of your 7 victor controlers on your electronics board. 4 are probably for the CIM motors on your drivetrain but what are the other three used for other than controling the arm?

Looks like they've got 3 motors per side for the drive train, along with an arm and possibly the minibot deployment mechanism (haven't seen that yet, though). There's still another victor on there that isn't hooked up... maybe a quick spare?

Looks really awesome though, 2791! You guys just keep getting better ;)

Chris is me 21-02-2011 12:31

Re: pic: 2791 Starting Configuration
 
Quote:

Originally Posted by Joe Ross (Post 1028290)
That's what we did in 2007. I think we missed only once in about 50 matches.

This is good to hear... though, you guys had more than Thursday at a regional to test :(

Quote:

Originally Posted by KleinKid (Post 1028303)
Team 3735 is earliy similar to this but our system is a little more sturdy i think. We used 1" aluminum inside of 1.5" aluminum and instead of gravity for extension we rigged up a 1.5" bore pneumatic piston. Being able to retract the arm during the game makes driving around and placing tubes on the rack much easier.

We'd love to do something like that, but we wanted to keep it a little simpler and we didn't want to commit to pneumatics when we were designing it Congrats on your accomplishment! I'm sure your robot will kick our butt on the field. :P

Quote:

I'm very jealous and curious of your 7 victor controlers on your electronics board. 4 are probably for the CIM motors on your drivetrain but what are the other three used for other than controling the arm?
As for our electronics board, we set it up before the design was finalized so it has 9 Victors. Plus one for a Spike for the compressor (we shouldn't need it at all with our single piston and 6.5 air tanks, but free ballast!). Originally we planned for 6 drive motors, 1 arm motor, and two motors for a roller claw, but we scrapped the roller claw with the success of our pneumatic. We're keeping the 8th and 9th on just as a spare.

I'm really proud of the extra mile we went to make a modular, removable electronics board this year. Every single plug is hooked up to an Anderson connector. Just one "click" and we're wired up.

Sh1ine 21-02-2011 12:35

Re: pic: 2791 Starting Configuration
 
Quote:

Originally Posted by KleinKid (Post 1028303)
Team 3735 is earliy similar to this but our system is a little more sturdy i think. We used 1" aluminum inside of 1.5" aluminum and instead of gravity for extension we rigged up a 1.5" bore pneumatic piston. Being able to retract the arm during the game makes driving around and placing tubes on the rack much easier.

I'm very jealous and curious of your 7 victor controlers on your electronics board. 4 are probably for the CIM motors on your drivetrain but what are the other three used for other than controling the arm?

Aluminum will definitely be more sturdy. We chose PVC so that if our arm would become tangled with another bot or element during the match the pipe would bend instead of break. And Theotherguy is right, we have a 6 motor drive train, the seventh is for the arm. We have two spares just in case we need them.

robodude03 21-02-2011 15:18

Re: pic: 2791 Starting Configuration
 
Ha ha ha, you weren't lying Chris when you mentioned that our bots look similar! Great job on the robot Chris and looking forward to seeing it in action. Oh btw, we changed the way our bot looks :P

Chris is me 22-02-2011 09:26

Re: pic: 2791 Starting Configuration
 
Video posted here:

http://www.chiefdelphi.com/forums/sh...69#post1029069

biojae 23-02-2011 00:47

Re: pic: 2791 Starting Configuration
 
It looks like your radio is plugged into the camera power supply.
Make sure that gets fixed before competitions.

Akash Rastogi 08-03-2011 19:41

Re: pic: 2791 Starting Configuration
 
How did I not see this thread before?:confused:

Thursday at WPI will be interesting with this bot Chris. Making any changes? btw awesome song choice.

Chris is me 08-03-2011 21:09

Re: pic: 2791 Starting Configuration
 
Quote:

Originally Posted by Akash Rastogi (Post 1036683)
Thursday at WPI will be interesting with this bot Chris. Making any changes?

We would not be Shaker Robotics if we didn't withhold 30.0 pounds of stuff.

Luckily, we are not rebuilding this entire robot this time. We withheld our claw and reinforced major parts of it to ensure that it stays in full working order.

We will hopefully have a minibot deployment system perfected which should allow us to deploy "instantly" onto the pole like 148 does. (If not, we have a backup plan)

We will be bringing a minibot "Plan A" and "Plan B" to the event. The first is a 3 second, 100% student designed and built machine that is not the fastest but is extremely reliable. The second is a 1.4 second wonder that might just explode.

Our electronics board is completely modular (inspired by 571) and was removed for making a dummy autonomous mode. We will have to take quite a long time to calibrate it as we have far less sensors than we need, but we will make it score in autonomous, somehow.

We also have plans to redo the belting in the drivetrain for a more stable, redundant system rather than the single belt loop we have running, but that depends on whether or not we can get a replacement hex broach in time.

Vikesrock 09-03-2011 07:13

Re: pic: 2791 Starting Configuration
 
Quote:

Originally Posted by biojae (Post 1029749)
It looks like your radio is plugged into the camera power supply.
Make sure that gets fixed before competitions.

Just wanted to make sure this didn't get missed. Your radio power must be rewired so that it uses the 12V-5V converter with the 5V side connecting to the DLink and the 12V side connecting to the dedicated 12V power on the end of the PD (the one currently empty in the picture).

thefro526 09-03-2011 08:14

Re: pic: 2791 Starting Configuration
 
Quote:

Originally Posted by Chris is me (Post 1036744)
The second is a 1.4 second wonder that might just explode.

None of mine exploded.... Yet?

Chris is me 09-03-2011 08:57

Re: pic: 2791 Starting Configuration
 
Quote:

Originally Posted by Vikesrock (Post 1036912)
Just wanted to make sure this didn't get missed. Your radio power must be rewired so that it uses the 12V-5V converter with the 5V side connecting to the DLink and the 12V side connecting to the dedicated 12V power on the end of the PD (the one currently empty in the picture).

We should probably write that down...

Chris is me 13-03-2011 01:49

Re: pic: 2791 Starting Configuration
 
One positive this weekend: We weighed this robot, with a claw made of round 1/8" wall aluminium instead of the wood used here, along with a few other weight increasing parts.

The robot weighed only 100 pounds. 20 pounds under, and everything on this bot is 1/8" wall.

Minimalism is beautiful.

One thing that turned out to be no problem was arm retraction. We took a full speed hit to the end of the arm without a scratch. The PVC's give was perfect for this. All we had to do was drive with the arm up in the air to score, and with our freakishly low CG it was very easy to do.

We had a lot of bad luck at WPI, but at least some of the cool stuff worked the way we wanted it to.


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