Go to Post Everyone is reading way too much into this. The game piece is clearly a bunch of Opahs this year. Problem solved, case closed. Start designing your fish handling robots now. - Ryan Dognaux [more]
Home
Go Back   Chief Delphi > FIRST > General Forum
CD-Media   CD-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
Reply
Thread Tools Rate Thread Display Modes
  #16   Spotlight this post!  
Unread 22-05-2006, 20:52
sanddrag sanddrag is offline
On to my 16th year in FRC
FRC #0696 (Circuit Breakers)
Team Role: Teacher
 
Join Date: Jul 2002
Rookie Year: 2002
Location: Glendale, CA
Posts: 8,515
sanddrag has a reputation beyond reputesanddrag has a reputation beyond reputesanddrag has a reputation beyond reputesanddrag has a reputation beyond reputesanddrag has a reputation beyond reputesanddrag has a reputation beyond reputesanddrag has a reputation beyond reputesanddrag has a reputation beyond reputesanddrag has a reputation beyond reputesanddrag has a reputation beyond reputesanddrag has a reputation beyond repute
Re: Looking for Mecanum Wheels

Personally, I'd prefer a 1/2" bore with a 1/8" keyway to use a live axle of the type, but that's just me. Perhaps such a hub will be available?
__________________
Teacher/Engineer/Machinist - Team 696 Circuit Breakers, 2011 - Present
Mentor/Engineer/Machinist, Team 968 RAWC, 2007-2010
Technical Mentor, Team 696 Circuit Breakers, 2005-2007
Student Mechanical Leader and Driver, Team 696 Circuit Breakers, 2002-2004
Reply With Quote
  #17   Spotlight this post!  
Unread 22-05-2006, 20:56
Kyle Love's Avatar
Kyle Love Kyle Love is offline
Support STEM Education
FRC #3301 (Jay County Robotics)
Team Role: Teacher
 
Join Date: Apr 2004
Rookie Year: 2004
Location: Portland, IN
Posts: 3,072
Kyle Love has a reputation beyond reputeKyle Love has a reputation beyond reputeKyle Love has a reputation beyond reputeKyle Love has a reputation beyond reputeKyle Love has a reputation beyond reputeKyle Love has a reputation beyond reputeKyle Love has a reputation beyond reputeKyle Love has a reputation beyond reputeKyle Love has a reputation beyond reputeKyle Love has a reputation beyond reputeKyle Love has a reputation beyond repute
Re: Looking for Mecanum Wheels

Quote:
Originally Posted by DeepWater
Andy,

I got to see the new AndyMark Mecanum wheels in Atlanta and I love the simple elegant design. I was really bummed when I didn't win them! There was mention of a possible white paper on them to be posted on the TechnoKats website. Is this still fourth coming? How about posting a picture so that everyone that didn't get to see this much sought after COTS product can see what they have to look forward to. I predict many teams will have Mecanums this next year! Great job bringing these sort of products to the market for teams that don't have the resources to make them themselves. Kudos to you and Mark!

BTW: What sort of hub setup are you thinking of for the final design? For what it's worth I would love to see a setup compatable with IFI wheels with the same sort of 3/8" flanged bearings and sprocket hole pattern (6 on 1.875" IIRC). They would then be a drop in replacement on the KitBot chassis.
The mecanum wheels in Atlanta were not Andymark wheels, they were the TechnoKats. Some of you asked me if they would be Andymark products, now you know!
__________________

Kyle Love
Teams I've been on:
Team 45 - The TechnoKats - Student/Leader/Driver 2004-2007
Team 1646 - Boiler Precision Guessworks - Mentor 2007-2011
Team 3301 - Jay County Robotics - Teacher 2011-Present

Reply With Quote
  #18   Spotlight this post!  
Unread 22-05-2006, 20:56
Andy Baker's Avatar Woodie Flowers Award
Andy Baker Andy Baker is offline
President, AndyMark, Inc.
FRC #3940 (CyberTooth)
Team Role: Engineer
 
Join Date: May 2001
Rookie Year: 1998
Location: Kokomo, Indiana
Posts: 3,417
Andy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond repute
Send a message via AIM to Andy Baker
Re: Looking for Mecanum Wheels

Quote:
Originally Posted by sanddrag
Personally, I'd prefer a 1/2" bore with a 1/8" keyway to use a live axle of the type, but that's just me. Perhaps such a hub will be available?
Ask and ye shall receive. Such a hub is already available.

If we go with 1.124" holes for 1/2" flanged bearings, that Universal Hub fits right in the hole and mates up with the 1.875" hole pattern.

Thanks,
AB
Reply With Quote
  #19   Spotlight this post!  
Unread 22-05-2006, 21:05
Billfred's Avatar
Billfred Billfred is online now
...and you can't! teach! that!
FRC #5402 (Iron Kings); no team (AndyMark)
Team Role: Mentor
 
Join Date: Feb 2004
Rookie Year: 2004
Location: The Land of the Kokomese, IN
Posts: 8,547
Billfred has a reputation beyond reputeBillfred has a reputation beyond reputeBillfred has a reputation beyond reputeBillfred has a reputation beyond reputeBillfred has a reputation beyond reputeBillfred has a reputation beyond reputeBillfred has a reputation beyond reputeBillfred has a reputation beyond reputeBillfred has a reputation beyond reputeBillfred has a reputation beyond reputeBillfred has a reputation beyond repute
Re: Looking for Mecanum Wheels

Quote:
Originally Posted by Andy Baker
We'll be coming out with an assembly print within 10 days or so (there I go making promises...).

We definitely will have the 6 holes on a 1.875" pattern, which is what our polycarbonate omni-wheels and our Traction Wheels have. We were thinking to have a 1.124" hole in each side plate, for mounting a 1/2" id flange bearing, but if most people want to use 3/8" bearings, we can do a 0.874" hole. Now is the time to give us input on this.
Personally, I prefer the 3/8" shaft. I've built two robots this way with no complaints, and the compatability with the Kitbot is handy. (Of course, YMMV.)

On the other hand, you can get bearings with the right OD and ID off of McMaster-Carr. Perhaps offering both sets of bearings would do the job?
__________________
William "Billfred" Leverette - Gamecock/Jessica Boucher victim/Marketing & Sales Specialist at AndyMark

2004-2006: FRC 1293 (D5 Robotics) - Student, Mentor, Coach
2007-2009: FRC 1618 (Capital Robotics) - Mentor, Coach
2009-2013: FRC 2815 (Los Pollos Locos) - Mentor, Coach - Palmetto '09, Peachtree '11, Palmetto '11, Palmetto '12
2010: FRC 1398 (Keenan Robo-Raiders) - Mentor - Palmetto '10
2014-2016: FRC 4901 (Garnet Squadron) - Co-Founder and Head Bot Coach - Orlando '14, SCRIW '16
2017-: FRC 5402 (Iron Kings) - Mentor

94 events (more than will fit in a ChiefDelphi signature), 14 seasons, over 61,000 miles, and still on a mission from Bob.

Rule #1: Do not die. Rule #2: Be respectful. Rule #3: Be safe. Rule #4: Follow the handbook.
Reply With Quote
  #20   Spotlight this post!  
Unread 22-05-2006, 21:40
ChuckDickerson's Avatar
ChuckDickerson ChuckDickerson is offline
Mentor / Bayou & CMP Division LRI
FRC #0456 (Siege Robotics)
Team Role: Mentor
 
Join Date: May 2004
Rookie Year: 2004
Location: Vicksburg, MS
Posts: 877
ChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond repute
Re: Looking for Mecanum Wheels

Quote:
Originally Posted by Kyle Love
The mecanum wheels in Atlanta were not Andymark wheels, they were the TechnoKats.
Sorry 'bout that. My bad. Whoever designed them did a great job and I love 'em!
Reply With Quote
  #21   Spotlight this post!  
Unread 22-05-2006, 21:44
Joe_Widen's Avatar
Joe_Widen Joe_Widen is offline
Registered User
FRC #1675 (The Ultimate Protection Squad)
Team Role: Alumni
 
Join Date: Jan 2006
Rookie Year: 2005
Location: Milwaukee
Posts: 215
Joe_Widen has much to be proud ofJoe_Widen has much to be proud ofJoe_Widen has much to be proud ofJoe_Widen has much to be proud ofJoe_Widen has much to be proud ofJoe_Widen has much to be proud ofJoe_Widen has much to be proud ofJoe_Widen has much to be proud of
Re: Looking for Mecanum Wheels

Heres a picture of the wheels the TechnoKatz had in Atlanta. I personally thought they were a bit bulky, but it was a good prototype. I hope for it to be more streamlined and a bit lighter. Those wheels must have weighted 4-6 pounds each. Well I would really like to give mad props to AndyMark for making a holonomic Drive system compatible with the KOP chassis. Now if you guys made small 14-1 gearboxes for one cim to compliment it, you'd be a FIRST God. O yeh, on a personal note, as much as I love these wheels, I'm going to try to steer my team away from it because I like having a unique design. I like the challenge of building something new, creative, innovative, beautiful, and works really good too and getting the satisfaction of building something that performs amazingly. Well I'm glad you made these mecanums and good luck to the teams who use them. Heres that picture. Sorry I made it a short monolouge there.

http://www.chiefdelphi.com/media/photos/25002
__________________
Finally in college =]


2009 Midwest Regional Champions - Thanks 111 and 1625

Last edited by Joe_Widen : 22-05-2006 at 21:48.
Reply With Quote
  #22   Spotlight this post!  
Unread 22-05-2006, 21:47
ChuckDickerson's Avatar
ChuckDickerson ChuckDickerson is offline
Mentor / Bayou & CMP Division LRI
FRC #0456 (Siege Robotics)
Team Role: Mentor
 
Join Date: May 2004
Rookie Year: 2004
Location: Vicksburg, MS
Posts: 877
ChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond reputeChuckDickerson has a reputation beyond repute
Re: Looking for Mecanum Wheels

Quote:
Originally Posted by Andy Baker
We were thinking to have a 1.124" hole in each side plate, for mounting a 1/2" id flange bearing, but if most people want to use 3/8" bearings, we can do a 0.874" hole. Now is the time to give us input on this.
Not knowing your manufacturing process would both be an option? If not my thinking would be to go with the 3/8" setup (0.874" hole) and the user can just bore a larger hole as needed. It is always much more difficult to put metal back in the hole than it is to take it out.
Reply With Quote
  #23   Spotlight this post!  
Unread 22-05-2006, 21:56
Andy Baker's Avatar Woodie Flowers Award
Andy Baker Andy Baker is offline
President, AndyMark, Inc.
FRC #3940 (CyberTooth)
Team Role: Engineer
 
Join Date: May 2001
Rookie Year: 1998
Location: Kokomo, Indiana
Posts: 3,417
Andy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond repute
Send a message via AIM to Andy Baker
Re: Looking for Mecanum Wheels

Quote:
Originally Posted by DeepWater
Sorry 'bout that. My bad. Whoever designed them did a great job and I love 'em!
Designer = TechnoKat mentor Mark Koors

Quote:
Originally Posted by DeepWater
Not knowing your manufacturing process would both be an option? If not my thinking would be to go with the 3/8" setup (0.874" hole) and the user can just bore a larger hole as needed. It is always much more difficult to put metal back in the hole than it is to take it out.
This is a good point. We've got some time to make this decision. I also like the 3/8" bearing hole (~0.8745") for mainly this reason.

Andy B.
Reply With Quote
  #24   Spotlight this post!  
Unread 22-05-2006, 22:06
rachal's Avatar
rachal rachal is offline
multipurpose tool
AKA: Rachel
FRC #1072 (Harker Robotics)
Team Role: Alumni
 
Join Date: Jan 2006
Rookie Year: 2005
Location: San Jose, CA -> Cambridge, MA
Posts: 172
rachal is just really nicerachal is just really nicerachal is just really nicerachal is just really nicerachal is just really nice
Send a message via AIM to rachal
Re: Looking for Mecanum Wheels

These are the mecanums we're making for next year:
http://www.chiefdelphi.com/forums/sh...ad.php?t=46175

Blanks were cut from 3/4" plate on a CNC mill by our machinist, then everything else was done with a manual mill.
__________________
2005 Sacramento Winners with 245 and 766
2005 SVR Semi-Finalists with 840 and 668
2005 SVR Judges Award
Reply With Quote
  #25   Spotlight this post!  
Unread 22-05-2006, 22:09
Nuttyman54's Avatar
Nuttyman54 Nuttyman54 is offline
Mentor, Tactician
AKA: Evan "Numbers" Morrison
FRC #5803 (Apex Robotics) and FRC #0971 (Spartan Robotics)
Team Role: Mentor
 
Join Date: Jan 2005
Rookie Year: 2005
Location: Seattle, WA/Mountain View, CA
Posts: 2,138
Nuttyman54 has a reputation beyond reputeNuttyman54 has a reputation beyond reputeNuttyman54 has a reputation beyond reputeNuttyman54 has a reputation beyond reputeNuttyman54 has a reputation beyond reputeNuttyman54 has a reputation beyond reputeNuttyman54 has a reputation beyond reputeNuttyman54 has a reputation beyond reputeNuttyman54 has a reputation beyond reputeNuttyman54 has a reputation beyond reputeNuttyman54 has a reputation beyond repute
Send a message via AIM to Nuttyman54
Re: Looking for Mecanum Wheels

Quote:
Originally Posted by Joe_Widen
I hope for it to be more streamlined and a bit lighter. Those wheels must have weighted 4-6 pounds each.
I'm not sure you CAN make them much lighter. With all the rubber on it, it gets heavy fast, and you need a good support structure. With how they're used, the wheels will take a good amount of sideways forces, and you need the structure to be strong enough to handle that, and then some. Now, I've got no good reference point, so 4-6 lbs may be excessive, but they will almost assuredly be heavier than any comparable standard wheel.

Andy, what material is the hub made out of, and are you using the same roller material as you have for the omnis?
__________________
Reply With Quote
  #26   Spotlight this post!  
Unread 22-05-2006, 22:20
Andy Baker's Avatar Woodie Flowers Award
Andy Baker Andy Baker is offline
President, AndyMark, Inc.
FRC #3940 (CyberTooth)
Team Role: Engineer
 
Join Date: May 2001
Rookie Year: 1998
Location: Kokomo, Indiana
Posts: 3,417
Andy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond repute
Send a message via AIM to Andy Baker
Re: Looking for Mecanum Wheels

Quote:
Originally Posted by Nuttyman54
I'm not sure you CAN make them much lighter. With all the rubber on it, it gets heavy fast, and you need a good support structure. With how they're used, the wheels will take a good amount of sideways forces, and you need the structure to be strong enough to handle that, and then some. Now, I've got no good reference point, so 4-6 lbs may be excessive, but they will almost assuredly be heavier than any comparable standard wheel.

Andy, what material is the hub made out of, and are you using the same roller material as you have for the omnis?
We've not made production models yet. The prototype models have 1/8" side plates and black EPDM rubber as the rollers. The rollers would be best if made out of polyurethane, but availability and cost are factors. We will shoot for a 75-80A durometer, durable, concentric, economical, non-marking material.

AB
Reply With Quote
  #27   Spotlight this post!  
Unread 22-05-2006, 22:28
Greg Needel's Avatar Unsung FIRST Hero
Greg Needel Greg Needel is offline
REVving up for a new season
FRC #2848 (All-sparks)
Team Role: Engineer
 
Join Date: Jan 2002
Rookie Year: 2002
Location: Dallas, TX
Posts: 3,107
Greg Needel has a reputation beyond reputeGreg Needel has a reputation beyond reputeGreg Needel has a reputation beyond reputeGreg Needel has a reputation beyond reputeGreg Needel has a reputation beyond reputeGreg Needel has a reputation beyond reputeGreg Needel has a reputation beyond reputeGreg Needel has a reputation beyond reputeGreg Needel has a reputation beyond reputeGreg Needel has a reputation beyond reputeGreg Needel has a reputation beyond repute
Re: Looking for Mecanum Wheels

Quote:
Originally Posted by Andy Baker
We were thinking to have a 1.124" hole in each side plate, for mounting a 1/2" id flange bearing, but if most people want to use 3/8" bearings, we can do a 0.874" hole. Now is the time to give us input on this.

I think you should bore them to 1.124 and also make pressfit bushings available to easily convert them the .874 if needed.


In actuallity though you can buy bearings from mcmaster that are 3/8 and have an OD of 1.125.


edit: although andy are the holes on the hole pattern going to be #10 (like ifi sprockets and the deka plastic hubs or are they going to be 1/4 like your molded omni wheels?
__________________
Greg Needel│www.robogreg.com
Co-founder REV Robotics LLC www.REVrobotics.com
2014 FRC World Champions with 254, 469, & 74

Last edited by Greg Needel : 22-05-2006 at 22:32.
Reply With Quote
  #28   Spotlight this post!  
Unread 22-05-2006, 22:39
Andy Baker's Avatar Woodie Flowers Award
Andy Baker Andy Baker is offline
President, AndyMark, Inc.
FRC #3940 (CyberTooth)
Team Role: Engineer
 
Join Date: May 2001
Rookie Year: 1998
Location: Kokomo, Indiana
Posts: 3,417
Andy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond reputeAndy Baker has a reputation beyond repute
Send a message via AIM to Andy Baker
Re: Looking for Mecanum Wheels

Quote:
Originally Posted by Greg Needel
edit: although andy are the holes on the hole pattern going to be #10 (like ifi sprockets and the deka plastic hubs or are they going to be 1/4 like your molded omni wheels?
Ugh... thanks for reminding me of that mistake.

These holes will be #10 clearance holes (or M5), at 0.205-0.210 diameter.

The 0.250" holes in the omni-wheels were designed to be #10 clearance holes also, but our molder turned them into 0.250".


Andy B.
Reply With Quote
  #29   Spotlight this post!  
Unread 22-05-2006, 22:44
Richard Wallace's Avatar
Richard Wallace Richard Wallace is offline
I live for the details.
FRC #3620 (Average Joes)
Team Role: Engineer
 
Join Date: Jan 2003
Rookie Year: 1996
Location: Southwestern Michigan
Posts: 3,658
Richard Wallace has a reputation beyond reputeRichard Wallace has a reputation beyond reputeRichard Wallace has a reputation beyond reputeRichard Wallace has a reputation beyond reputeRichard Wallace has a reputation beyond reputeRichard Wallace has a reputation beyond reputeRichard Wallace has a reputation beyond reputeRichard Wallace has a reputation beyond reputeRichard Wallace has a reputation beyond reputeRichard Wallace has a reputation beyond reputeRichard Wallace has a reputation beyond repute
Re: Looking for Mecanum Wheels

Quote:
Originally Posted by Greg Needel
I think you should bore them to 1.124 and also make pressfit bushings available to easily convert them the .874 if needed.
I'll second (or vote for) that. Let the standard wheel be a fit for the standard hub.
Quote:
Originally Posted by Andy Baker
Ask and ye shall receive. Such a hub is already available.

If we go with 1.124" holes for 1/2" flanged bearings, that Universal Hub fits right in the hole and mates up with the 1.875" hole pattern.

Thanks,
AB
__________________
Richard Wallace

Mentor since 2011 for FRC 3620 Average Joes (St. Joseph, Michigan)
Mentor 2002-10 for FRC 931 Perpetual Chaos (St. Louis, Missouri)
since 2003

I believe in intuition and inspiration. Imagination is more important than knowledge. For knowledge is limited, whereas imagination embraces the entire world, stimulating progress, giving birth to evolution. It is, strictly speaking, a real factor in scientific research.
(Cosmic Religion : With Other Opinions and Aphorisms (1931) by Albert Einstein, p. 97)

Last edited by Richard Wallace : 22-05-2006 at 22:47.
Reply With Quote
  #30   Spotlight this post!  
Unread 24-05-2006, 00:18
Jeremiah Johnson's Avatar
Jeremiah Johnson Jeremiah Johnson is offline
Go VOLS!!
AKA: Budda648
no team (QC Elite)
Team Role: Alumni
 
Join Date: Mar 2003
Rookie Year: 2002
Location: Davenport, IA
Posts: 1,476
Jeremiah Johnson has a reputation beyond reputeJeremiah Johnson has a reputation beyond reputeJeremiah Johnson has a reputation beyond reputeJeremiah Johnson has a reputation beyond reputeJeremiah Johnson has a reputation beyond reputeJeremiah Johnson has a reputation beyond reputeJeremiah Johnson has a reputation beyond reputeJeremiah Johnson has a reputation beyond reputeJeremiah Johnson has a reputation beyond reputeJeremiah Johnson has a reputation beyond reputeJeremiah Johnson has a reputation beyond repute
Send a message via AIM to Jeremiah Johnson Send a message via MSN to Jeremiah Johnson
Re: Looking for Mecanum Wheels

I'm sure there will be some sort of display for these at IRI right? Ed showed us some video of the BattleBot, Acoholic Stepfather using mecanum wheels and our team fell in love with them. Although I knew about them far ahead of time, I had not yet made any sort of presentation about them. Ed wants to experiment with mecanum drive over the summer I think.
__________________
Do The Tyler!

XBOX Live Gamertag = theVelvetLie
Reply With Quote
Reply


Thread Tools
Display Modes Rate This Thread
Rate This Thread:

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

vB code is On
Smilies are On
[IMG] code is On
HTML code is Off
Forum Jump

Similar Threads
Thread Thread Starter Forum Replies Last Post
Mechanum Wheels Andy B Technical Discussion 2 10-01-2006 17:41
pic: SpamThingAcon Mechanum wheel system Tytus Gerrish Extra Discussion 18 12-05-2005 04:40
[OCCRA]: Looking for SPECIFIC Dimensions for the Game field! stk86 OCCRA Q&A 1 28-09-2004 10:46
i'm looking for a contact for team 1059 and 546 Mike Persico Scouting 1 20-01-2004 21:01
Looking for sponsors for New Team in the Berkshires Gabriel Fundraising 1 30-10-2003 13:07


All times are GMT -5. The time now is 20:45.

The Chief Delphi Forums are sponsored by Innovation First International, Inc.


Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2017, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi