FIRST Climb for 237

[PVCpirate]

That's incredible!! This is why I love the climbing in this game already, so many unique and creative systems.

[Djur]

Originally Posted by CalTran

Looks like a pretty awesome way to climb. Guess that's another one of the climbs checked off. So far, we have the first 30 pt climb, the first corner climb, and now the first end over end climb.

Second end-over-end on CD. We were the first: http://chiefdelphi.com/forums/showthread.php?t=113110

[Twins Inc.]

This is FANTASTIC!
What is the array of lights from the middle of the robots? Are they your motor controllers? Jags? I can't tell.

[JohnBoucher]

Originally Posted by Twins Inc.

This is FANTASTIC!
What is the array of lights from the middle of the robots? Are they your motor controllers? Jags? I can't tell.

Bank of 8 talons

[mdituri]

Excellent Job! Thanks for posting it on youtube. I showed my team and they are super impressed. Our little robot throws some frisbees and weighs 91 lbs. We are bringing our arm and hooking it on at NYC. I love the end over end and outside of the box thinking. We like to drive around, so we were never going to just have a climber. Good luck.

How are you sensing that it is clamped on? Are you going to climb on the pole closest to you or from the opposite side so you can see your manipulator arms?

[JohnBoucher]

Originally Posted by mdituri

Excellent Job! Thanks for posting it on youtube. I showed my team and they are super impressed. Our little robot throws some frisbees and weighs 91 lbs. We are bringing our arm and hooking it on at NYC. I love the end over end and outside of the box thinking. We like to drive around, so we were never going to just have a climber. Good luck.

How are you sensing that it is clamped on? Are you going to climb on the pole closest to you or from the opposite side so you can see your manipulator arms?

Thanks. We are working on the sensors now. The camera is mounted directly in line with the jaw for the 1st clamp so we don't have to be in sight line to do it.

[dricks]

Impressive. Great job guys,

[MetalJacket]

Wow, that looked awesome! Would you guys mind sharing how your arms are powered (motors, reduction, etc.)? My team has a similar design but we've been having issues with our gears skipping (I may post more info/pics in a separate thread later if we can't solve it).

[Ted Boucher]

Originally Posted by MetalJacket

Wow, that looked awesome! Would you guys mind sharing how your arms are powered (motors, reduction, etc.)? My team has a similar design but we've been having issues with our gears skipping (I may post more info/pics in a separate thread later if we can't solve it).

Sure.

On each grabber we have 2 - AndyMark 3 Stage GEM Gearboxes (am-0401) each powered by a large CIM motor. Each GEM drives a 20t output gear (am-0186) and both drive a 45t gear (am-0185) between the GEMs. Outside of the gearbox, we have a hex broached 17t #35 sprocket that drives the 30t #35 sprocket on the grabber. This last sprocket section allows us to adjust the ratio and keep within the space limits. If I remember correctly.. thats a total reduction of 195:1.

We had an issue with chain slip and we ended up designing beefy chain tensioners. These tensioners serve a dual purpose of holding the gearboxes in place and eliminating chain slack. A 1/2"-13 threaded rod pushes a "U" shaped aluminum block into the chain path. This is not the best thing for the chain, but we would rather change chain then fix a fallen robot. I will post a picture later today of this system.

[Akash Rastogi]

Are your gripper feet dipped in plasti-dip? Or is it something else? Would you mind sharing the material used?

[JohnBoucher]

It's a vinyl plastisol. There are deep grooves in the grippers to keep the material in place.

[JohnBoucher]

Chain Tensioner