Thanks for all the compliments. This was more an experimental project, to prove a point to myself, rather than anything else. The point I wanted to prove is that this is very easy and simple to make, and works well. You may or may not see this on 696's robot. In either case, it'll be at Long Beach if anyone wants a look. I'm also thinking, maybe I could come up with something simple to be able to add this onto any alliance partner robot that doesn't have a minibot. Not sure how that would work with inspection though.
I fully expect many winning teams to have something similar, but it will have been much refined beyond what this is currently. I don't plan to do any further work on this, however there is a lot of room for improvement. There's probably .2 to .3 pounds you could easily take out of it, and you could cleanup the wiring, and optimize the roller diameter.
Anyhow, let me answer a few questions.
Quote:
Originally Posted by jgw
Any details on the switch at the top?
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It's made for a household lamp or light fixture, and was purchased from a local hardware store. It's a push-button on-off type.
Quote:
Originally Posted by Chris is me
I'm very surprised that this minibot took 1.6 seconds to go up. My guess says it should go up in about 1.2.
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Yeah, it was a little slower than I expected too. My first try, on a dead battery, produced a little smoke from the motors. They still appear to work fine, however, they may work better if they had never smoked. Also, the acceleration is a lot slower than I would have imagined.
Quote:
Originally Posted by PhilBot
I see that you have a limit switch to turn the bot on when it contacts the pole. I was planning to turn it on as it left the robot, but yours is probably more universally interchangeable.
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This is exactly the idea. There's some friction that results from it, but I'm satisfied with a sub -2-sec climb.
Quote:
Originally Posted by Chris is me
It may be worth it to spin up the robot before you touch the pole. Play around with it and find out  |
It probably would. However, I'd be somewhat worried about wear on the "tires." Anyhow, the present state is as far as I'm going with this design.
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Originally Posted by jvriezen
Putting the magnet between the rollers assures there is no way the magnet can touch the pole.
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This was the idea. I'd estimate there is about .045" between the pole and the magnets the way I have them mounted.
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Originally Posted by VKP
What material did you use for the rollers? It looks like some sort of rubber. Did you take it off of the Tetrix wheels? Or is that electrical friction tape?
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Black latex tubing.
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Originally Posted by JB987
He said 1.6 seconds from the base. Maybe he is referring to time it takes from breaking the plane at start of deployment to the trigger? Anyways, this looks much like our new iteration. Wonder if he left the pinion on and used set screws not visible from the front view to hold or if this is a straight press to the motor shaft. Nice work.
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It's 1.6 seconds from right next to the pole, right above the base. I did not account for deployment time.
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Originally Posted by BIGWILLI2081
how did you connect the motor shafts to the bigger shaft?
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There are no set screws. The pinion gear was removed from the motor, and the shaft was drilled and pressed directly on. Unfortunately, one thing I did not consider is there is no really good way to remove the shaft from the motor, if you ever have to. So, for spare motors, you'd want spare shafts already pressed on.
Quote:
Originally Posted by TEE
can't see the battery  |
It sits on the back side of the C-channel. There's a small piece of aluminum angle on the bottom of the C-channel that it sits on, and Velcro on the whole back of it holds it on. Zip ties would work too.
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Originally Posted by Nikhil Bajaj
Just a note: you are correct in stating that the magnets can potentially add to the damping in the system and slow the mini-bot down. However, this is not friction, unless you are rubbing the magnets or something else on the pole.
http://en.wikipedia.org/wiki/Eddy_currents
This is a very common high school physics class demonstration, taking a vertical aluminum tube and sliding a magnet down it towards the ground. It can take longer than one would expect. |
The magnets provide approximately 6-6.5 pounds of force to the pole. It's more than enough to let it drive upside down on a horizontal pole. You could probably get away with using less magnet force, but I wanted to be absolutely certain it stuck. Not sure how much magnet damping force results from this setup, but I imagine it's not much.
One other interesting thing to note, is I mounted the magnets with aluminum screws. I'm not sure if this would provide more or less force to the pole, as compared to steel screws. Anyone care to answer that?
our electronics boards had begun to look like we'd planted a wire bush and it grew - daltore [more] 
20-03-2011, 16:37
since 2003
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