Self-righting

[edthegeek]

Our robot had a small problem of tipping coming off the ramp due to a higher-than-wished CG. We solved the problem by writing a ramp unmount procedure and by adding several pounds to the front (we were underweight by like 9 pounds.)

[Joe J.]

We currently don't have anything to prevent tipping on this years bot but we may add something at our first regional if we find out we need it.

On last year's bot we had what we called Wheelie Stilts, very simple and light weight, and no powered parts. All you need is some Aluminum Angle, String, and two bolts in the size of you choice.
Our the bottom half of our robot last year was basically a box (as many bots are this year)
What we did was:
1. Cut a piece of Aluminum Angle (to size you need), and cut about 1" of one of the legs (right or left side depending on the side you are working on) off (so you have for example 19" of true 90 degree angle and 1" of flat stock.)
2. Line up the angle so it sits around the existing frame and the 1" flat spot is up and on the side of your robot the spot you choose should be strong enough to support the weight of your robot and drill a hole in the side of your frame and another on the flat part of the Al angle.
3. Put a bolt through both holes (line the with a washer in between them put a nut on and tighten it (leave it lose enough so the angle can pivot).
4. Test lean your robot back (simulate a flip) and the angle should swing out. Now find how far it must swing our to stop the robot from falling and right itself again.
5. Measure and cut a piece of string to stop it at that point and drill two more holes to tie the string to. Tie the string off and test lean it again to make sure. Adjust as necessary.

It does work last year at West Michigan we had our arm out and up trying to cap a corner goal, someone pushed us from behind and we fell forward against the goal. After they backed off we swung back up so fast we tipped backward and the Wheelie Stilts stopped us from falling over backward.

Pic This picture isn't very good but its the best view of the stilts that we uploaded last year. The pivot point is right in the middle of the 8 you can see the string on the other side.

Hope this helps