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Unread 04-02-2009, 16:40
Rick TYler Rick TYler is offline
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Re: pic: FRC488 - Xbot 2009 - IX

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Originally Posted by squirrel View Post
(...)when we discovered we couldn't get balls to actually move from the harvester to the lift....
I could tell you stories...
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Unread 04-02-2009, 16:42
Rick TYler Rick TYler is offline
A VEX GUy WIth A STicky SHift KEy
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Re: pic: FRC488 - Xbot 2009 - IX

Eventually you have to shoot the engineers and ship the robot.
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Unread 04-02-2009, 19:04
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Re: pic: FRC488 - Xbot 2009 - IX

In our case, our fundamental strategy hasn't really changed at all -- just a lot of significant details in its implementation. As we worked through the design over the last several weeks, we made a lot of mistakes and changes and discoveries, all of which came with some number of band-aids and unplanned additions.

By starting over, we were able to take account of everything we'd learn and include all of the subsequents requirements in our design from the start. So, with some concessions to the design of the existing drivetrain, we've ended up with something that's more robust, lighter and more successful in accomplishing what we intend to do. We put in two very long days over the weekend and are caught up again. With luck, we'll be able to get the whole machine together by Sunday.

The robot is pretty simple, all things considered. The drive is 4WD with a single CIM on each side running through a custom gearbox. The overall ratio is 8.75:1. The intake roller has pneumatic tubing bristles that and a quarter round backing that bring the balls up to the conveyor system. The conveyor system consists of a pair of individually driven belts -- each powered by a FP motor, AM Planetary and the same gearbox we're using on our drive. Not shown is a flap at the top of the conveyor that will push the balls back into the hopper as the come out of the belting. That flap is "normally-closed," such that it covers the belting when we dump balls out.

The hopper can store ~15 balls and measures 14" x 35" x 24" or so. We'll get balls out by raising the height of the floor, essentially, and pushing the balls upward. They then roll over the flap mentioned above and into the opponents goal. The plan, of course, is for this to happen as quickly as possible and so that mechanism is driven by the remaining two CIMs, again through the same gearboxes as those on the drive.

Also, for the record, I don't advocate shooting the engineers.
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Unread 04-02-2009, 20:40
JOhnch181 JOhnch181 is offline
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Re: pic: FRC488 - Xbot 2009 - IX

I count 6 cims in your design?
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Unread 04-02-2009, 21:24
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Re: pic: FRC488 - Xbot 2009 - IX

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Originally Posted by JOhnch181 View Post
I count 6 cims in your design?
All of the gearbox assemblies have a CIM in them by default and it looks like I didn't change the configuration of the conveyor belt gearboxes to show the FP motors with AM planetarys. The robot has only 4 CIMs.
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Unread 04-02-2009, 21:33
Navid Shafa Navid Shafa is offline
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Re: pic: FRC488 - Xbot 2009 - IX

Are you guys using a standard four wheel tank drive?
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Unread 04-02-2009, 21:40
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Re: pic: FRC488 - Xbot 2009 - IX

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Originally Posted by Navid Shafa View Post
Are you guys using a standard four wheel tank drive?
Yes, simple four-wheel drive with traction control of some variety or another thrown in the mix. It's nothing quite as fancy as your crab drive.
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Unread 06-02-2009, 12:10
Matt times Matt times is offline
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Question Re: pic: FRC488 - Xbot 2009 - IX

can it rotate w/ the trailer attached
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Unread 06-02-2009, 13:34
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Re: pic: FRC488 - Xbot 2009 - IX

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Originally Posted by Matt times View Post
can it rotate w/ the trailer attached
The drive train alone -- which is <50 lbs. with battery -- was able to navigate our small field with a trailer attached.
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