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Unread 01-15-2018, 06:52 PM
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[Ri3D] - 12th Hour Robotics 2018 Technical Analysis

Howdy y'all,

Here is a comprehensive technical analysis for our 2018 robot, Attaboy.

YouTube Playlist - Update Videos and Match Footage from MC^3 Competition

Overview

The goal for our robot design this year was to create a competitive robot on the lowest budget possible, which we believe with all inclusive costs would be anywhere between 2,500-3,000 dollars. This in turn would inspire rookies to create better designs that work on their cost and skill restrictions. Our designs allowed us to easily control the cubes on the ground ant to have a quick consistent lift to a height of 7.5 ft. Pictures for all subsystems can be found here.

Intake

Our intake used two 775Pro motors with 16:1 Banebot P60 Gearboxes. The final iteration of our design used direct driven 4" marshmallow compliant wheels that were heavily relied on in the 2015 game to intake the totes. Earlier iterations of the design used Colson wheels which did not have enough grip to intake and control the cubes. The intake was articulated on tensioned arms to allow for the intaking of cubes at a 45 degree angle. One of the issues that we ran into with this final design was that it could not reliably lift cubes onto the scale that were gripped on the 11" side. Some geometry modifications that we did not have time to complete could fix this issue. Additionally, the hard stops that held the intake at its minimum width broke constantly. The leverage the intake had on the hard stops caused them to break whenever the intake hit a wall. Some potential solutions include using soft stops, mounting springs that tension the arms in the opposite directions or creating more rugged hard stops.

Elevator

The design of this elevator was a two stage elevator made with 1" REV Extrusion structure and REV 1" Linear Motion Kits. It utilizes a two stage pulley that lifted the intake while the second stage was being lifted. This design ran on a single 775Pro with a 11:1 Banebot P60 Gearbox that powered a 1/2" round shaft pulling nylon paracord. One of the hardest challenges we had with this design was how to wire an intake that moves up and down 7.5 ft without the wires getting caught in moving parts. What we found was that because the second stage and the intake move upwards at the same time, the length that the wire would need to travel if draped across the top of the elevator would remain constant. With a wire guide at the top of the elevator and some simple wire conduit, we are confident that this solution would stand up to the rigors of competition.

Drivetrain

The drivetrain was a simple 4 wheel design that ran a custom 2 CIM 13.5:1 reduction gearbox made with VEX Pro Hex Gears. The wheels we used were two 6" traction wheels in the front and two 6" omni-wheels in the back to reduce turning scrub and put the center of rotation towards the front of the robot. The frame was made out of rectangular aluminum 2"x1" tubing that was designed to be a cheaper alternative to the AndyMark kitbot chassis. We manufactured custom gearboxes for this design because it was a cheaper alternative for us due to our machining capabilities. They are also not the ideal gear ratio to properly play this years game. In our opinion, more speed is necessary and a more appropriate gear reduction would be in the range of 8-10:1.

CAD

We will release our CAD files very soon. They are currently being cleaned up and prepared. Please check back here later this week.

Regards,
12th Hour Robotics
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Unread 01-15-2018, 07:21 PM
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Re: [Ri3D] - 12th Hour Robotics 2018 Technical Analysis

So waitaminute...

Texas A&M had one.
LSU had one.
Mizzou had one.
USC had one.

S-E-C! S-E-C! S-E-C!

All that said, looks like a promising start!
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Unread 01-15-2018, 08:33 PM
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Re: [Ri3D] - 12th Hour Robotics 2018 Technical Analysis

Quote:
Originally Posted by Billfred View Post
So waitaminute...

Texas A&M had one.
LSU had one.
Mizzou had one.
USC had one.

S-E-C! S-E-C! S-E-C!

All that said, looks like a promising start!
I still think of two of those schools as Big 12.
And one other as PAC 10
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Unread 01-15-2018, 10:23 PM
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Re: [Ri3D] - 12th Hour Robotics 2018 Technical Analysis

Quote:
Originally Posted by Billfred View Post
So waitaminute...

Texas A&M had one.
LSU had one.
Mizzou had one.
USC had one.

S-E-C! S-E-C! S-E-C!

All that said, looks like a promising start!
Waterloo had Team Elsie and Team Elijah. That's enough for a match :-)
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Unread 01-15-2018, 11:10 PM
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Re: [Ri3D] - 12th Hour Robotics 2018 Technical Analysis

Looking at some of the match video, I have a feeling the following trends will be seen in week 1 competitions and perhaps the whole season.

-The first box an alliance scores on the scale seems to be far easier than subsequent boxes. Not talking about height here, just the idea that the first box greatly reduces valid placements later. Boxes that land on top of the first one often tend to fall off the scale completely.

-In general, scoring on the scale and switch is deceptively hard since a close-but-not-close-enough score attempt will often fall away from the areas. Remember, the power cubes are a foot wide, if they're less than half inside, they're gonna land outside.

-I predict one of this year's prevalent fouls will come from robots inadvertently tipping the scale while trying to score in it. I may be behind the times on recognizing this, but the video makes it quite clear.

Obviously, these 1-week builds aren't as polished and practiced as most 6-week builds will be, but it's still something to keep in mind as the season unfolds.
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Unread 01-16-2018, 11:00 AM
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Re: [Ri3D] - 12th Hour Robotics 2018 Technical Analysis

Another thing I noticed is that the robot starts with the box grabbing mechanism outside of the bumpers. Is that legal? I thought robot parts had to be inside the bumpers at the start of the match...
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