"Waffle" East Angelbots 1339 Offseason Project

[End-Game]

The Angelbots are proud to present our current offseason project, fondly named Waffle.



We are currently building this robot to play our version of capture the flag with another team here in colorado. We have to acquire the flag from the top of a 3'x3'x3' cube, and get it across the field to the safe zone as many times as possible in a match.

http://imgur.com/a/ppAcy

http://imgur.com/a/mzQJ8

We decided to push our boundaries this offseason, and tried a great many new things on this robot. We are using two different styles of drive, a #25 Chain drive with a WCD Bearing Block, and an exact CC belt in tube drive. The chain uses a 18t sprocket, and the 9mm belt uses a 24t pulley. We are using a WCP 2 Cim DS, with a spread of 2.92, for a high gear of 16ft/sec, and a low gear of 5.5ft/sec.

We also decided to try something new with the claw mechanism, and used an over-center linkage to lock the claw in place when actuated shut.

The Reduction on the Claw roller is 50-1 with a BAG motor, and the arm has a reduction of 200-1 with two BAGs.

Another this that we are rather excited about is the bellypan. We routed it in house out of a sheet of 1/16in aluminum, and thus far has worked beautifully.

Any Comments, Questions, and Critiques are Welcome.