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  #16   Spotlight this post!  
Unread 18-02-2015, 10:55
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Re: TEAM2980 Open Source Robot Thread

At long last...Robot is bagged and tagged, and here is the reveal video.

https://www.youtube.com/watch?v=YR-3FkKNsz0

Now sleeps. :-)
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Unread 05-03-2015, 13:58
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Re: TEAM2980 Open Source Robot Thread

Been a few weeks...I've had some time to think about our robot, and to see what other teams have come up with. Now that all is said and done we need to think about how our robot can fit into a larger strategy or alliance, and also to not necessarily compare ourselves to some of the other teams that all teams want to grow to be...So teams like 118, and 148 for example. Of course they have amazing robots. (Well...not of course, I am sure they work darn hard to get to where they are and I am not trying to diminish that in the least...) More they have a track record of amazing robots. Here at team 2980 we have to maintain perspective and work with what we have...

So...The bad? (I would start out with the good, but I want to address each of these things in turn to show how I hope we as a team can deal with them...)

Our robot isn't very fast at loading from the feeder station. This in fact was something that we saw, and in a way may have overlooked...Nami, one of our designs was an internal bottom stacker which would have been perfect for deeding from the human player station, but the community somehow overlooked this design. There was discussion against using pneumatics, and perhaps we could have used something like a dart actuator or cables to make Nami work... So, depending on our alliance, we can ether follow our plan of working the landfill, or adapt our plan in order to take advantage of the feeder station... The feeder station would probably be the fastest way to build stacks, but, it is also not really what we are designed to do, and if there are any better human player stackers in our alliance then we would want them to be there stacking.

The tradeoff of having a very versatile gripper...In fact we have two lift mechanisms. One of them is primarily for use during autonomous, and would work best for that purpose (specifically designed to lift 2 totes from the side.) The other, the front lift mechanism is incredibly versatile. It can lift totes from almost any angle as well as bins that are upright and tipped over. Here though again, the mechanism is relatively slow when compared to some other robots with active intakes that seem to just eat totes. We are addressing this through modifying the gripper to make it more able to handle several totes at a time aligning them for stacking. We will see how well this works during our access period. We also had a mini cim let the white smoke out during a practice...We have modified the code to make this less likely to happen, but it is still a concern.

Finally our drivetrain... This is probably the most problematic part of our robot, and may in fact work out to be a strength...We went with a holonomicn X drive... This has been a beast to get driving well, and the shifting balance of carrying more than a couple totes is really problematic. We can address this by tilting the stack, which for stacks of two or three is fine, but much after that becomes a tipping hazard. The robot has fallen over a couple times usually when carrying a larger stack and moving too quickly. Here we will have to take full advantage of our access periods and district events to nail down driving in a meaningful way. We have had success dealing with noodles, but that may be more a factor of the slippery floors in our workshop. Hopefully though the angle of the wheels makes them "want" to push noodles out of the way instead of getting stuck on them.

So for the good...

Honestly all of the "bad" things described above don't include the worst thing, which would be unreliability. We have a direct drive, drivetrain which will help to lessen the chances of major drivetrain problems...In that sense we seem to have a pretty reliable robot. Of course we will see at competition how well we hold it together, and perhaps our choice of framing material might come back to bite us in the butt down the road. (we went with 1/16th wall square tube for most of the robot.) In reality because we managed to stay on schedule this year the robot has seen a fair bit of action already. Hopefully things will hold up and we will be able to see any problems before the robot gets out on the field.

I think we will have a great shot if we stick to what we designed for, which is working the landfill... There we should excel, especially if we work out our double lift and stacking idea. In the least we should be able to quickly line up totes for stacking. We will have to work out the best way in which to do this during our access period, and during our district competitions. In a perfect world we would be able to put up a 20 point auto + 6 more if our alliance partners can move into the autozone, 16 tote points, 16 container points, 6 - 10 noodle points, and 40 cooperatition points...that would of course be in a perfect world, and also depends a great deal on the other robots in our alliance. I can see us growing into something like this if given the chance, but really that would all be a best case scenario. I can equally see us putting up something like 20 - 30 points in caps and stacks and failing to get either the autonomous points and cooperatition... Honestly hitting over 70 points in a match would be pretty darn incredible.

The best alliance for us.

would be two feeder station stackers, or a combination of a feeder station stacker and an auto container grabber. We would play cleanup and work the land fill.


We'll keep you posted on how things actually turn out.

Best of luck to all teams!

Edoga
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