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Unread 23-05-2008, 00:43
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Re: pic: 1625's shooter ready to fire

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Originally Posted by bigbeezy View Post
wow great design! took me a second to figure it out. never would have thought of that... I assume you have a pot or other sensor so you dont miss fire.
its got an ma3 absolute analog encoder on the other end of the shaft of the big sprocket to tell it where its at.

this mechanism never gave us a problem during the whole season, very easy to maintain

(also i came up with this linkage concept 4 years ago playing with legos....)
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Last edited by Aren_Hill : 23-05-2008 at 00:47.
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Unread 23-05-2008, 01:46
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Re: pic: 1625's shooter ready to fire

What is that giant heatsink on?
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Unread 23-05-2008, 11:26
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Re: pic: 1625's shooter ready to fire

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Originally Posted by AdamHeard View Post
What is that giant heatsink on?
the FP motor that steers the wheels, it actually helps for when the bots running for more than 2 minutes.

Leav, look at the next picture of our shooter and you'll get a better idea how it works, its kinda tough to do with words.

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Originally Posted by Karthik View Post
Congratulations to the gang at 1625 on coming up with such a simple and elegant solution. Pretty much everyone from 1114 had the same reaction when we checked out your shooting mechanism in Chicago, "That's so cool!".
We wanted to accomplish a punching mechanism without having any other actuation, as we've never used pneumatics once in our 4 years and another motor is more weight.
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Last edited by Aren_Hill : 23-05-2008 at 12:03.
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Unread 23-05-2008, 15:25
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Re: pic: 1625's shooter ready to fire

Are there any safety features on it?
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Unread 23-05-2008, 15:32
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Re: pic: 1625's shooter ready to fire

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Originally Posted by Andrew141WOBOT View Post
Are there any safety features on it?
it doesn't move if we don't tell it to, by leaving the anti-backdrive pins in the dewalt. And if it dry fires nothing goes flying. It only is able to shoot when in the correct firing position. besides that we just used our "don't be stupid" policy and it hasn't gotten anywhere near to harming anything
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Last edited by Aren_Hill : 23-05-2008 at 15:36.
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Unread 23-05-2008, 18:25
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Re: pic: 1625's shooter ready to fire

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Originally Posted by Aren_Hill View Post
it doesn't move if we don't tell it to, by leaving the anti-backdrive pins in the dewalt. And if it dry fires nothing goes flying. It only is able to shoot when in the correct firing position. besides that we just used our "don't be stupid" policy and it hasn't gotten anywhere near to harming anything
So if I were to bump the wheel when it is loaded it wouldn't shoot?
You use a crab drive right?

Last edited by Andrew141WOBOT : 23-05-2008 at 18:37.
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Unread 23-05-2008, 18:51
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Re: pic: 1625's shooter ready to fire

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Originally Posted by Andrew141WOBOT View Post
So if I were to bump the wheel when it is loaded it wouldn't shoot?
You use a crab drive right?
you'd have to apply ALOT of downwards force on the linkage arms in order to fire it "accidentally". And yes we've got a 2 speed swerve drive
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Unread 24-05-2008, 13:32
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Re: pic: 1625's shooter ready to fire

okay, heres how this thing works. In this picture the shooter is currently ready to fire.
there are two linkages, one hinged to the puncher itself and one hinged to the large sprocket, then connected together. Currently the forward force of the surgical tubing is holding the linkage quite tightly against a catch on the face of the sprocket. In order to fire the large sprocket rotates, moving the hinge point of the rear linkage over center and therefore there is no catch to stop the puncher from flying forward, hence it flies forward.

this leaves the shooter in "unloaded position but both linkages fully outstretched.
The large sprocket then rotates the same direction it did to fire, drawing back the rear hinge point hence partially loading the shooter. Then once the hinge point 180deg from where it was the catch grabs the linkage and it does another 170deg rotation, to be back ready to fire.

i hope thats not to confusing, i managed to explain it to people in person but alot of talking with the hands was involved
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Unread 25-05-2008, 08:50
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Re: pic: 1625's shooter ready to fire

That shooter is very impressive. I watched you guys in some of your matches and I extremely impressed. I know this thread is about your shooter, but your drive train is incredibly cool as well. Do you have any pictures or CAD models that you can post of the drive train?
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Unread 25-05-2008, 14:33
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Re: pic: 1625's shooter ready to fire

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Originally Posted by Sgreco27 View Post
That shooter is very impressive. I watched you guys in some of your matches and I extremely impressed. I know this thread is about your shooter, but your drive train is incredibly cool as well. Do you have any pictures or CAD models that you can post of the drive train?
Here are a couple links of pics already posted:

Single Module

Corner of robot focusing on a module
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Unread 28-05-2008, 13:44
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Re: pic: 1625's shooter ready to fire

So, from where we are looking, the sprocket rotates counter-clockwise, the metal semi-circle that is attached to the sprocket hooks the bolt connecting the two bars and draws them back?

That's pretty neat. I like how this is all accomplished without pneumatics.
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Unread 28-05-2008, 13:55
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Re: pic: 1625's shooter ready to fire

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Originally Posted by InfernoX14 View Post
So, from where we are looking, the sprocket rotates counter-clockwise, the metal semi-circle that is attached to the sprocket hooks the bolt connecting the two bars and draws them back?
its fully loaded at the moment, and you can see the catch holding the linkage back. So right now in order to fire it would rotate clockwise till the sprocket pivot point goes under the linkage, therefore passing center and allowing it to swing free.

The aluminum bolted to the sprocket is just to give the linkage a flat plane to slide on.
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