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Unread 08-03-2012, 15:43
Nemo's Avatar
Nemo Nemo is offline
Team 967 Mentor
AKA: Dan Niemitalo
FRC #0967 (Iron Lions)
Team Role: Coach
 
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Team 967 - Iron Lions

Here are some pictures of Team 967's 2012 robot:

http://www.flickr.com/photos/lmrobot...th/6964733805/

Robot info:
  • Wide Configuration 4WD
  • Two 8" AndyMark Pneumatic wheels (front) and two 8" FIRST wheels (back)
  • Raised 4" center wheels help us over the barrier
  • Angled HDPE skids on both ends also help the robot over the barrier
  • 2 speed transmission (standard AM shifter gearing except 56:17 in third stage)
  • Front wheels directly driven from gearboxes
  • Two conveyor sections using RS-550 with 20:1 gearboxes plus 3:2 belts
  • Bridge Arm using AndyMark gear motor plus 4:1 chain reduction (has been removed to keep it out of the bag in most photos)
  • Fixed angle shooter using 6" wheels, two AndyMark 9015 motors, CIM-Sim gearbox (likely to be changed to something a bit faster before Wisconsin)
  • Collector faces back of robot, with shooter facing forward
  • 112.5 lbs at Kansas City

We went with a fixed angle shooter to keep things mechanically simple. It is designed to hit the 3 point shot from the key or the two point shot from the fender. The shooter could use a higher speed and some tweaking for consistency, so look for us to bring something slightly different to Wisconsin.

The robot started out around 100 lbs, so we added a 3/16" steel plate under the belly pan. That helps somewhat with stability. We had initially been concerned about the tower causing us to tip over backwards, so we designed the tower to be quite light and put the drive gearboxes and motors on the front end. Interestingly, we are now more prone to tipping forwards than backwards. It is still certainly possible for us to tip (we tipped once in KC) but it is pretty avoidable.

We started with four 8" pneumatic wheels but switched the back ones to 8" rubber tread FIRST wheels in Kansas City. Since the pneumatic wheels are so much smaller, we are using a 32:34 sprocket reduction to even out the front/back wheel speeds, and we made new wheel mounting blocks to keep the robot level. Before the wheel swap, the robot skipped and bounced around too much while turning. The wheel swap significantly improved the turning, and it still goes over the bump well in both directions.

Thanks to all of the great teams we competed with in Kansas City, and we look forward to seeing what people bring to Wisconsin!
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Unread 08-03-2012, 17:24
Alpha Beta's Avatar
Alpha Beta Alpha Beta is offline
Strategy, Scouting, and LabVIEW
AKA: Mr. Aaron Bailey
FRC #1986 (Team Titanium)
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Re: Team 967 - Iron Lions

Very solid robot this year. As I recall you were fairly automatic on the 2 point fender shot and a very good bridge balancer too. Looking forward to seeing the key shot become a more reliable part of your repertoire.

I envy you guys being underweight. We've got too many ideas for improvements but not sure which ones we can afford to implement based on weight.

Good luck in Wisconsin.
__________________
Regional Wins: 2016(KC), 2015(St. Louis, Queen City), 2014(Central Illinois, KC), 2013(Hub City, KC, Oklahoma City), 2012(KC, St. Louis), 2011(Colorado), 2010(North Star)
Regional Chairman's Award: 2014(Central Illinois), 2009(10,000 Lakes)
Engineering Inspiration: 2016(Smoky Mountain), 2012(Kansas City), 2011(Denver)
Dean's List Finalist 2016(Jacob S), 2014(Cameron L), 2013(Jay U), 2012(Laura S), 2011(Dominic A), 2010(Collin R)
Woodie Flowers Finalist 2013 (Aaron Bailey)
Championships: Sub-Division Champion (2016), Finalist (2013, 2010), Semifinalist (2014), Quaterfinalist (2015, 2012, 2011)
Other Official Awards: Gracious Professionalism (2013) Entrepreneurship (2013), Quality (2015, 2015, 2013), Engineering Excellence (Champs 2013, 2012), Website (2011), Industrial Design (Archimedes/Tesla 2016, 2016, 2015, Newton 2014, 2013, 2011), Innovation in Control (2014, Champs 2010, 2010, 2008, 2008), Imagery (2009), Regional Finalist (2016, 2015, 2008)
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