Robot climbing times

[nuggetsyl]

Ok whats you guess on how long it will take to climb to the top of the tower?

[z_beeblebrox]

If our lead drivetrain/ climbing device mentor's idea works like he says it might, below 4 seconds.

[Mongai]

Originally Posted by z_beeblebrox

If our lead drivetrain/ climbing device mentor's idea works like he says it might, below 4 seconds.

I would really like some insight on that idea.

[Mr. Lim]

Our current textbook strategy allocates ~40s for "end game", which includes the time it takes to drive to the feeder station load 6 alliance discs, drive to the pyramid, climb it, and place them into the goal.

[nuggetsyl]

Originally Posted by Mr. Lim

Our current textbook strategy allocates ~40s for "end game", which includes the time it takes to drive to the feeder station load 6 alliance discs, drive to the pyramid, climb it, and place the 6 discs into the goal.

Did I say 6? I meant 6. Oops!

Dont miss one of the six beacsue it will cost you if you do

[Donut]

Originally Posted by Mr. Lim

Our current textbook strategy allocates ~40s for "end game", which includes the time it takes to drive to the feeder station load 6 alliance discs, drive to the pyramid, climb it, and place them into the goal.

You might get yellow/red carded for this intentional rule violation.

The Head Referee may assign a YELLOW or RED CARD as a result of egregious ROBOT or Team member behavior at the ARENA.

Examples of egregious behavior include, but are not limited to, severe and/or repeated violations of a rule and inappropriate behavior.

[mdituri]

Originally Posted by Donut

You might get yellow/red carded for this intentional rule violation.

Last season (and I don't know if there was a similar rule off the top of my head about repeated violations) teams would use the strategy of taking a 3 point penalty in automomous to hold and score the extra basketball from the bridge. They were net +3 points. It wasn't considered to be an "intentional" rule violation, but a strategy. It wasn't malicious or damaging, which is what I think the yellow/red card rule applies. If someone intentionally broke the hitting people while in the protected zone rule every match, to cause them to misfeed, that could be considered intentional rule violation.

[Gregor]

Originally Posted by mdituri

Last season (and I don't know if there was a similar rule off the top of my head about repeated violations) teams would use the strategy of taking a 3 point penalty in automomous to hold and score the extra basketball from the bridge. They were net +3 points. It wasn't considered to be an "intentional" rule violation, but a strategy. It wasn't malicious or damaging, which is what I think the yellow/red card rule applies. If someone intentionally broke the hitting people while in the protected zone rule every match, to cause them to misfeed, that could be considered intentional rule violation.

Like who?

[Hallry]

Originally Posted by Gregor

Like who?

I believe 341 and/or 67 might have used this strategy last year in autonomous.

[Gregor]

Originally Posted by Hallry

I believe 341 and/or 67 might have used this strategy last year in autonomous.

Okay, I'm curious now. Got any video?

[nuggetsyl]

Originally Posted by Gregor

Okay, I'm curious now. Got any video?

http://www.youtube.com/watch?v=G0Tb4dP2RmA

[Justin Montois]

Most Teams: Can't climb to the top
Average for teams that can: 40-30 seconds
Above average: 15-20 seconds
Out of this world 5-10 seconds

4 seconds? Please.

[ENeyman]

Originally Posted by Hallry

I believe 341 and/or 67 might have used this strategy last year in autonomous.

Most of the time, 341 would shoot the two preloads before getting the two from the bridge. However, when against another robot who went for the bridge in auton (27, 233), they would go to the bridge first, intentionally taking the penalty.

Also, 365 would take the additional ball in auton too.

[IKE]

If we assume that the 4 seconds is a goal:
150 Lb robot = 667 N
60 Inch=1.5 meters estimated change in CG height
Time = 4 sec
667N*1.5m/4 sec = 250 Watts.

Assuming 50-75% efficient mechanism your power draw would be:
333-500 Watts.
That is a lot of power draw, but not unheard of.

[ToddF]

Running some quick numbers to put a lower bound on time:

Assume the simplest possible lifting method, winching yourself from the floor to the 90 inch bar straight vertically (yes, I know this is illegal). Power the winch by two CIM motors left over after using 4 in your drivetrain. To get max power from the motors, they run at 1/2 speed, producing 1/2 the stall torque.

For a CIM, stall torque is 21.5 in-lb and free speed is 5310 rpm.

Torque/Force used to select gear ratio:
Two CIMS running at max power produce 21.5 in-lb.
Assume a 1" diameter rod (smallest practical size, ish) to reel the cord onto.
At 1:1 gear ratio, line tension would be 43 lb.
For a 150 lb robot, need ~3.5:1 gear ratio.
Select motor pinions with 12 teeth engaging a winch gear of 40 teeth gives a robot weight of 143.3 lb

Gear ratio used to find lifting speed:
The CIMS are running at half speed = 2655 rpm
After the gear reduction, the winch speed is 796.5 rpm.
Multiplying by the rod circumferance and converting from minutes to seconds gives 41.7 inches/second.

So, with the most optimal lifting mechanism, operating at the optimal conditions, not accounting for acceleration and deceleration, lifting 80 inches, would take about 2 seconds.