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Unread 03-22-2018, 10:04 AM
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2018 HOTBOT

A little late this year, but here is the 2018 HOTBOT!

Brief summary below. Feel free to ask questions for more detail.

Drivetrain:
-4 mini CIM
-2 775 Redline(with custom mini CIM conversion)
-Ball Shifter

Manipulator:
-2 stage elevator. Powered by 1 775 Pro into a Versa. Using spectra cable for the pulley system.
-The wrist is powered by a bag motor going into a Versa.
-The arm/roller system can actuate to open and close around a cube using pneumatics.
-Roller system uses bag motors, with belt reduction.

Climber:
-Ball screws drive the climber up and down.
-2 775 Pros into 5:1 Versas to power the ball screws.

Ramp:
-775 Redline into a 120:1 Versa. + 22:60 from versa to sprocket + 2:1 on the pulley system.
-Versa ratchet slice used to prevent back drive. It is actuated by a servo motor.
-Ramp sides are forced open by surgical tubing under tension.



https://drive.google.com/file/d/14-7...ew?usp=sharing

https://drive.google.com/open?id=1id...P-R1qVhw6-Ijjp

https://drive.google.com/open?id=1EF...yTBsorhOuOa_AV

https://drive.google.com/open?id=1qO...oFC9ESw9Rlik_C

https://drive.google.com/open?id=1Sb...spVKp7Vc3QFCrD

https://drive.google.com/open?id=1bS...XSoNGN1paT10eN
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Last edited by Legator91 : 03-22-2018 at 10:11 AM.
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Unread 03-22-2018, 10:06 AM
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Re: 2018 HOTBOT

What drove (Get it!??) you guys to use 4 Minicim + 2 Redline drivetrain, seems like an unusual setup. Was 6 minicim not hip enough?
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Unread 03-22-2018, 10:17 AM
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Re: 2018 HOTBOT

Quote:
Originally Posted by Brian M View Post
What drove (Get it!??) you guys to use 4 Minicim + 2 Redline drivetrain, seems like an unusual setup. Was 6 minicim not hip enough?
This robot had a bit of a weight issue. We made several changes to reduce weight. One was taking out 2 of the mini CIM's, and replacing them with 775's. I'm not sure on the exact amount.

One cool thing to note. The ratio is set so the free speed of the 775 is below that of the CIM. This was done due to worries about over heating. At normal driving speeds the 775 will not be under load, but the fan will spin to cool the motor.
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Unread 03-22-2018, 11:04 AM
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Re: 2018 HOTBOT

Loved seeing you guys play at Milford. Looking forward to seeing you guys at states in a few weeks!
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Unread 03-22-2018, 11:37 AM
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Re: 2018 HOTBOT

Quote:
Originally Posted by Legator91 View Post
This robot had a bit of a weight issue. We made several changes to reduce weight. One was taking out 2 of the mini CIM's, and replacing them with 775's. I'm not sure on the exact amount.

One cool thing to note. The ratio is set so the free speed of the 775 is below that of the CIM. This was done due to worries about over heating. At normal driving speeds the 775 will not be under load, but the fan will spin to cool the motor.
We have the same setup. We do it as well because of weight and have never had an issue after two years. I think it is a great setup and very robust.
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Unread 03-22-2018, 12:36 PM
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Re: 2018 HOTBOT

Quote:
Originally Posted by Legator91 View Post
This robot had a bit of a weight issue. We made several changes to reduce weight. One was taking out 2 of the mini CIM's, and replacing them with 775's. I'm not sure on the exact amount.

One cool thing to note. The ratio is set so the free speed of the 775 is below that of the CIM. This was done due to worries about over heating. At normal driving speeds the 775 will not be under load, but the fan will spin to cool the motor.
This year my team switches to 8 775s and resulted with what feels like twice the power of our 4 cim drivetrain from last year, but still being 3 lbs lighter, able to run at a higher top speed with our tripping breakers and have a ton of pushing power (which we try to avoid).

775s are amazing things...
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Unread 03-22-2018, 12:43 PM
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Re: 2018 HOTBOT

Quote:
Originally Posted by Brian M View Post
What drove (Get it!??) you guys to use 4 Minicim + 2 Redline drivetrain, seems like an unusual setup. Was 6 minicim not hip enough?
We had originally planned to do 6 miniCIMs. Our contingency plan for the season had always been go to 4 CIMs if we have a weight problem, but realizing we were so overweight so late made that an issue to get the electrical panel rework done in time. This fix is about the same weight as 4 CIMs (including the speed controllers). Total savings compared to 6 minis was 1.9 lbs. This was a bit of a risk, because we had done literally no testing of 775s in the drive. We figured the failure mode was a burned up 775 which means we'd be driving around with 4 miniCIMs - didn't seem too bad. This drive has been rock solid and after finals at both Southfield and Milford our 775s were cold. This game doesn't seem too tough on drivetrains yet but based on our results so far I would run this again next year.

We also originally planned a faster elevator (2 motors with less reduction) and faster lift (which we did end up with at Milford, but not for Southfield), but weight concerns didn't allow for it.

Other cool stuff:
Round tube elevator - 1.5 x .063" round tube is ~21% lighter than equivalent 2 x 1 x .063" Spectra cord used for the elevator is super light. Pulleys are made of delrin on comp bot, but practice bot ones are 3D printed and holding up just fine.
0.63" 5052 aluminum sheet metal chassis - includes a tunnel (really meant for ground clearance) which allows us to use a .063" lexan belly pan that is stiffened by the bends.
3D printed pulleys and belted reduction in the intake were used avoid another versaplanetary.

Reason we were saving all that weight:
Our ramp weighs 14 lbs (not including the winch that lifts it) and is 46.5" wide x 37.5" long
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Unread 03-22-2018, 12:48 PM
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Re: 2018 HOTBOT

Quote:
Originally Posted by Legator91 View Post
This robot had a bit of a weight issue. We made several changes to reduce weight. One was taking out 2 of the mini CIM's, and replacing them with 775's. I'm not sure on the exact amount.

One cool thing to note. The ratio is set so the free speed of the 775 is below that of the CIM. This was done due to worries about over heating. At normal driving speeds the 775 will not be under load, but the fan will spin to cool the motor.
Oh thats pretty cool, so basically the power of the 775 only kicks in when you need it?
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Unread 03-22-2018, 01:12 PM
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Re: 2018 HOTBOT

Quote:
Originally Posted by Brian M View Post
Oh thats pretty cool, so basically the power of the 775 only kicks in when you need it?
Yes. They are really only used for acceleration. As Mike mentioned above, they have been cold after matches. No issues with over heating.
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Unread 03-22-2018, 01:55 PM
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Re: 2018 HOTBOT

Do you have a close up picture of the 775 in drivetrain setup? What ratio are you using?
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Unread 03-22-2018, 03:03 PM
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Re: 2018 HOTBOT

Quote:
Originally Posted by juju_beans View Post
Do you have a close up picture of the 775 in drivetrain setup? What ratio are you using?
https://drive.google.com/open?id=1q_...9Izp5t1RVq722Y

Don't have one of the actual parts, this is the CAD model. This pilots into the 3 CIM ball shifter just like a CIM would. 12:48 in the pulley reduction and a 12 tooth pinion on the output shaft. We're running 11 tooth pinions on the mini CIMs.

The rest of the DT is the 2.16 spread ball shifter (no 3rd stage) to a 24t output pulley which drives the 42t pulley on the 4" wheels.
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Unread 03-22-2018, 03:20 PM
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Re: 2018 HOTBOT

Hey Mike, next year use the Zebra Camo version?
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Unread 03-22-2018, 06:34 PM
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Re: 2018 HOTBOT

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Originally Posted by Andrew Schreiber View Post
Hey Mike, next year use the Zebra Camo version?
You mean like this?

https://drive.google.com/open?id=0B2...WTJGT lY4TkZB

We highly considered doing this. You wouldn't really see it with bumpers on though. In the end I think it was a weight issue again. The car camo vinyl is much thicker and about 3-4 times the weight. It does look cool though!
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Unread 03-22-2018, 07:30 PM
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Re: 2018 HOTBOT

Quote:
Originally Posted by Legator91 View Post
You mean like this?

https://drive.google.com/open?id=0B2...WTJGT lY4TkZB

We highly considered doing this. You wouldn't really see it with bumpers on though. In the end I think it was a weight issue again. The car camo vinyl is much thicker and about 3-4 times the weight. It does look cool though!
Yup, that looks similar to the first time I saw your practice bot.

It's a good look
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Unread 03-22-2018, 07:49 PM
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Re: 2018 HOTBOT

Quote:
Originally Posted by Type View Post
This year my team switches to 8 775s and resulted with twice the power of our 4 cim drivetrain from last year, but still being 3 lbs lighter, able to run at a higher top speed with our tripping breakers and have a ton of pushing power (which we try to avoid).

775s are amazing things...
They do not have 2X the power of 4 cims, the battery cannot provide enough power to use their full potential. The main advantage is weight if all other things are equal.
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