pic: 1625's shooter ready to fire

[Aren_Hill]

Originally Posted by Andrew141WOBOT

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

[Aren_Hill]

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

[sgreco]

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?

[hillale]

Originally Posted by Sgreco27

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

[Dan Petrovic]

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.

[Aren_Hill]

Originally Posted by InfernoX14

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.

[T3_1565]

that is a wonderful design! I love Linkages Seems really simple too. Did you have any problem with the tubing?? Our team always had problems with it in our first year, so we never looked at it again haha! I suppose maybe we should... it helped make an amazing robot!

[Aren_Hill]

Originally Posted by T3_1565

that is a wonderful design! I love Linkages Seems really simple too. Did you have any problem with the tubing?? Our team always had problems with it in our first year, so we never looked at it again haha! I suppose maybe we should... it helped make an amazing robot!

problems such as?
it was ziptied in place to whatever it went around.

[T3_1565]

problems as in ripping and stretching... I saw a whole bunch of people using it this year so I'm going to assume in 2005 we had a bad batch or... we were really bad at using it haha

[sportzkrazzy]

Yeah that thing was a beast to play along side of in colorado. Just wish we wondent have fried our computer.lol. Hope to play along side u guys agian someday.