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Unread 06-15-2018, 01:55 AM
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Team 1678 Citrus Circuits 2018 CAD Release

Team 1678 is proud to release the CAD for our 2018 robot, Lemon Zest (or "Zesty")! This year, we won the Utah, Sacramento, and Central Valley Regionals in addition to being Newton Sub-Division Champions at the Houston Championship. It features all custom gearboxes, a heavy reliance on custom 3-D printed parts, various usages of specific sensors, State Space control (except for the intake), and more.



The CAD (STEP) file, along with some specific mechanism renderings, can be found on our 2018 GrabCAD post. As always, we are happy to contribute this as a resource for the CD and FRC community, hoping others could possibly benefit. Feel free to contact us with questions (or comments, if you choose).

General team email: admin@citruscircuits.org
Mechanical-specific email: 1678mechanical@gmail.com
Various social media links on our website.
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Unread 06-15-2018, 06:33 AM
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Re: Team 1678 Citrus Circuits 2018 CAD Release

This is inspiring. Thank you so much. You guys are everything an FRC team should strive to be. Which Markforged printer are you using, and if something is black, does that make it printed?
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Unread 06-15-2018, 10:31 AM
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Hello, fellow Chief Delphi lurkers.
AKA: Maya Brandy
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Re: Team 1678 Citrus Circuits 2018 CAD Release

Quote:
Originally Posted by samthesnake View Post
This is inspiring. Thank you so much. You guys are everything an FRC team should strive to be. Which Markforged printer are you using, and if something is black, does that make it printed?
We're using both the Mark Two and the Onyx One printers. The great thing about the Mark Two is that it allowed us to print with carbon fiber reinforcement on the parts, giving them tons of extra strength and durability. The black parts you see on the side of the drivetrain (the parts supporting the ramp pivot in the full robot assembly) are examples of that.

You are correct! I did my best to make the part appearances somewhat accurate, so the printed parts are colored black. I honestly probably missed a few just because there are so many.
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Unread 06-15-2018, 12:25 PM
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Re: Team 1678 Citrus Circuits 2018 CAD Release

I'm looking at the CAD on GrabCAD and I'm seeing that the intake assembly, as well as a few other small ones, don't seem to be present. Is this an issue on anyone else's ends?
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Unread 06-15-2018, 03:10 PM
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Re: Team 1678 Citrus Circuits 2018 CAD Release

Quote:
Originally Posted by ClayTownR View Post
I'm looking at the CAD on GrabCAD and I'm seeing that the intake assembly, as well as a few other small ones, don't seem to be present. Is this an issue on anyone else's ends?
I have the same issue, opening it in Solidworks 2018.
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Unread 06-15-2018, 04:51 PM
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Re: Team 1678 Citrus Circuits 2018 CAD Release

Quote:
Originally Posted by Brian M View Post
I have the same issue, opening it in Solidworks 2018.
I also have this issue in NX 11.
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Unread 06-15-2018, 05:11 PM
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Re: Team 1678 Citrus Circuits 2018 CAD Release

Is there CAD available for the previous top roller intake?
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Unread 06-15-2018, 07:52 PM
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Re: Team 1678 Citrus Circuits 2018 CAD Release

Quote:
Originally Posted by ClayTownR View Post
I'm looking at the CAD on GrabCAD and I'm seeing that the intake assembly, as well as a few other small ones, don't seem to be present. Is this an issue on anyone else's ends?
There isn't an intake assembly file in the CAD posted. While the design we have is slightly different, the overall design was mostly developed by our friends over at 1323 Madtown Robotics. We wanted to honor their design sharing policies with respect to the intake design.

The GrabCAD post in my original post should now also include the assembly for the horizontal roller intake we developed before we switched to the 1323-style side-to-side intake.
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Unread 06-15-2018, 08:15 PM
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Re: Team 1678 Citrus Circuits 2018 CAD Release

Quote:
Originally Posted by maya.brandy View Post
There isn't an intake assembly file in the CAD posted. While the design we have is slightly different, the overall design was mostly developed by our friends over at 1323 Madtown Robotics. We wanted to honor their design sharing policies with respect to the intake design.

The GrabCAD post in my original post should now also include the assembly for the horizontal roller intake we developed before we switched to the 1323-style side-to-side intake.
How much of the original 1323 design was shared with 1678? Just pictures/video? Dimensioned sketches? Full CAD? To be clear, I have no issues with any form of design sharing. I just find the history behind FRC things neat.
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Unread 06-15-2018, 11:44 PM
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Re: Team 1678 Citrus Circuits 2018 CAD Release

What is the purpose of the 1x1" Al extrusion mounted on top of the 2x1" drive rails on the front and back of the drive base?


How did those 3D printed angle joints for the diagonal elevator supports hold up? I assume they were Markforged Nylon?


Can you describe some of the design and prototyping process for your buddy climb? How much of the design did you mock up or prototype before going to production? Which elements?
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Unread 06-16-2018, 12:19 AM
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Re: Team 1678 Citrus Circuits 2018 CAD Release

Neat guys, thanks for being super awesome.
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Unread 06-16-2018, 01:39 AM
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Hello, fellow Chief Delphi lurkers.
AKA: Maya Brandy
FRC #1678 (Citrus Circuits)
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Re: Team 1678 Citrus Circuits 2018 CAD Release

Quote:
Originally Posted by josesantos View Post
How much of the original 1323 design was shared with 1678? Just pictures/video? Dimensioned sketches? Full CAD? To be clear, I have no issues with any form of design sharing. I just find the history behind FRC things neat.
We did receive actual CAD files, and made our own modifications to those files.

Quote:
Originally Posted by Lil' Lavery View Post
What is the purpose of the 1x1" Al extrusion mounted on top of the 2x1" drive rails on the front and back of the drive base?

How did those 3D printed angle joints for the diagonal elevator supports hold up? I assume they were Markforged Nylon?


Can you describe some of the design and prototyping process for your buddy climb? How much of the design did you mock up or prototype before going to production? Which elements?
1. The 1x1 is our bumper mount. With the 1x1 attached to the bumper itself, we would just throw a bolt through the holes on the 1x1 that would thread into a rivet nut in the drivetrain itself.

2. The triangle elevator supports are indeed Markforged's Onyx, but don't have any Nylon/CF, etc. Those held up just fine and didn't have any issues. They're pretty beefy pieces with the Onyx alone.

3. I'd say the buddy climb idea itself, with the detachable hook + ramp + cable winch system, had to be developed relatively early on, but each section was worked on separately with prototyping and iteration happening for the duration of build season. I remember us testing the comp bot climbing system up until when we absolutely had to stop and bag the robot on stop build day.

We did a fair amount of plywood prototyping with the ramp during the first three(ish) weeks of build season with a rough robot frame/elevator mockup so we could pinpoint locations for the cable pulleys accordingly. Only then did we design and manufacture the first rev of a 2024/0.025" aluminum ramp with the ribs (the sheet metal parts inside the ramp to keep from bending), and cable running through it. We took that first rev and tested it on a practice bot, then experimented with ways we could lighten it even more while maintaining strength, settling on the circle pockets and stamping each cutout with a machined dye to create a flange for some "artificial thickness". That ended up working out for us quite well. The dimples created from the stamping aren't pictured in the CAD or renders, but you'll see them in actual robot photos of ours.

The hook took some shifting around with tube thicknesses and welding to find a place where that part of the system wouldn't bend/fatigue or break completely. We decided to factor in a latch midway through the design iteration of the hook to guarantee we wouldn't slip off the rung (re 2016).

The winch system (the gearbox + round tube mounted to the drivetrain) was mostly just in design. We decided that three cable contact points (cable through the ramp and attached to either side of the deployed hook) were what we needed for supporting the weight of two robots and to keep everything balanced. That's why we have three pulleys mounted to the output tube of the gearbox, each with different diameters, so that each cable can be wound around that tube and everything can move up at the same rate. The pulleys are 3D printed, which makes it really easy for us to experiment with different diameters and such to get the relative rates of wrapping to where they needed to be.
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Unread 06-20-2018, 01:35 PM
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Re: Team 1678 Citrus Circuits 2018 CAD Release

This may be a bit off topic from the CAD, but was there any current limiting done on the drive? It looks like it was geared pretty high.
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Unread 06-20-2018, 10:44 PM
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Hello, fellow Chief Delphi lurkers.
AKA: Maya Brandy
FRC #1678 (Citrus Circuits)
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Re: Team 1678 Citrus Circuits 2018 CAD Release

Quote:
Originally Posted by Rafi Ahmed View Post
This may be a bit off topic from the CAD, but was there any current limiting done on the drive? It looks like it was geared pretty high.
We don't currently. We haven't yet had an issue where we might need current limiting.

EDIT: this is just for drivetrains. We do current limiting in some way on almost every mechanism that uses 775pros. We just haven't needed it for drivetrains specifically.

Last edited by maya.brandy : 06-21-2018 at 12:34 AM. Reason: Wanted to provide some clarification
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