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#1
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If I remember the game correctly, WPI (Team 190) had a great platform climber, went around a goal obstruction, and hung on a bar, all autonomously. Can't wait to see the new game. Speculation is generally fruitless, but can be fun for some.
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#2
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Re: Hypothetical Situation - Stairs
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I might try 330's approach: oversized rear pneumatic tires (12") with an angled front and 6" wheels to lead up the step. Tank tracks: Outback Manufacturing has a kit for those, but most teams make their own with varying degrees of success (the Triplets in 2006) and unsuccess (any robot that throws more than one or two in a season). They'll work for stairs, but I wouldn't recommend them for flat floors necessarily. |
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#3
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Re: Hypothetical Situation - Stairs
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In 2004, the reason we went with with the independent lifting wheel pods was because we felt it was the best way to climb a 6" step, while using a swerve drive. If we weren't already committed to swerve drive, there's no way we would have gone down this road. This was just way too complex of a solution for a problem that could be handled in a much more conventional way. In 2006, our use of tank treads had very little to do with climbing the ramps that were on the field. We went with the treads because we felt we could get more traction by taking advantage of the longer contact patch between the tread and the carpet. Granted, this does seem a bit odd considering the equation for traction has no surface area component. When you're dealing with two surfaces that interlock in the way carpet and roughtop tread do, the traditional model for evaluating traction doesn't exactly apply. Regardless, we chose treads because we wanted that robot to be immovable, the benefit of climbing the ramp was an added bonus. Again, the complexity, maintenance and cost could not have been justified just for climbing when a much simpler solution could have sufficed. So, I don't have any groundbreaking suggestions for innovative stair climbing devices. However, I can say this: If you are going to go with a complex design like the ones discussed above, you better make sure the extreme design costs are justified by the game benefits. Typically the best way to justify these costs for a function is to make sure you get multiple points of utility out of them. (And if you didn't bother reading all of that, here's the synopsis: Keep it simple!) |
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#4
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Re: Hypothetical Situation - Stairs
http://www.societyofrobots.com/robot_asme.shtml
Now, depending on the rules, this kind of robot might be possible. As long as the 3 inch rule is not in this year's rules, it should work great. http://www.societyofrobots.com/robot...t_monkey.shtml Now I am not sure if this is possible with the bumpers in the way, but his has honorary mentions. Try this: http://www.youtube.com/watch?v=67CUudkjEG4 |
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#5
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Re: Hypothetical Situation - Stairs
if i was on a rookie team the way that i would do this is an 8wd with the 10 inch kit wheels. the middle two being drop center and rubber traction, the back one being a slick wheel, and the front being a 10 inch IFI wheel, i think the IFI wheel would hold up better with impacts and has a higher traction coefficient. 10 kit wheels will not fit in the 38 inches that we are given but if they are layed out like this:
XXXXXXXX.......................XXXXXXXXXX ..........XXXXXXXX.XXXXXXXXXXX with the chain in between the two rows of wheels, then it would work. Last edited by Hawiian Cadder : 27-12-2010 at 21:47. Reason: failed formating |
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#6
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Re: Hypothetical Situation - Stairs
1. The wheels you speak of are probably the 8" AndyMark wheels, either the FIRST, FIRST slick, Plaction, etc. and the 8" IFI wheels
2. The IFI wheels use the same tread as the AndyMark Plaction wheels (Actually, they can use either, the difference is minor between wedgetop and roughtop, and you can get both from AndyMark or IFI, but the Roughtop tends to have more usable life). 3. Why not just use 8 Plaction wheels (or other wheels with roughtop tread) in a dropped center 8wd? |
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#7
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Also, keep in mind, that you could modify some snowmobile treads. Team 1091 did that, last season, and we had some excellent success with traction and manueverability. We could easily navigate over the bumps, and by gearing down, we lost some speed, but we weren't pushed around.
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#8
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Re: Hypothetical Situation - Stairs
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#9
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Re: Hypothetical Situation - Stairs
I have a question: what kind of legal servos are able to support a 100+ lb robot? Would pneumatics or other parts be necessary to support such a robot?
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#11
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Re: Hypothetical Situation - Stairs
I don't understand your question. What kind of application are you using to use them in? Which robot are you referring to?
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#12
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Re: Hypothetical Situation - Stairs
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ANY If you gear it enough But id be faster if you used a more powerful motor such as a CIM or Fisher-Price. |
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#13
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Re: Hypothetical Situation - Stairs
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You could use a ratchet device to support the robot most of the time, only releasing it when you want to change postion. |
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#14
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Re: Hypothetical Situation - Stairs
Or a worm gear. That would probably provide all of the reduction you would need.
I would probably mix a pair of encoders, a gyro (maybe) and an inclinometer. The encoders would determine wheel speed and distance, the gyro would (as usual) determine rotational velocity (Although you might have to do some stuff to keep it sensing correctly, or just use it when in a known orientation), and the inclinometer would detect the ground. An accelerometer *might* work but would be affected by the robot's forward velocity. A weight on a pot would work as well, but would have weight to it (and weight is always a bad thing). David - about servos - They are weak motors with built-in logic to steer to a certain position, and work the same as a motor, Victor, and pot. Except they are weak. With a CIM or Fisher-Price as the motor, you have significantly more power, which with gearing means you can drive whatever load you must drive faster. Any motor can move the load, but a more powerful (not necessarily a higher/lower free speed or stall torque, but output power, measured in Watts) motor can perform the task faster. |
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#15
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Re: Hypothetical Situation - Stairs
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http://www.chiefdelphi.com/forums/sh...94&postcount=5 My the end of the season we had the belt trapped so it couldn't find a way to slide off. Unfortunately this really cut down our efficiency so our robot was slower than we hoped. Definitely not an ideal situation. |
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