Question about Climbing the Tower

[Razer0901]

Hello everyone,

As a second year team, we are looking for advice for mechanisms to climb the tower. We are looking into using an elevator like what many teams used in 2011 for their lift (eg. 254's) , but without a reference we have no idea what kind of gearbox/motors we would need to lift up our robot (120 lb)

I understand that without knowing the sizes of the drum or the lift configuration it would be hard to determine the gearing and ratio of the power, but could anyone tell us what we would be looking at for power? CIMs? MiniCIMs? 1:10? 1:50? 1:75? Also, if ratio goes above 1:10 what kind of COTS gearboxes are we looking at since drivetrain gearboxes are usually 1:10, and VersaPlanatary can't take CIMs above 1:50ish based on the recommendations.

Also could people provide insight into successful climbers in general and how they were implemented? I have seen 1114's 2013 climber, 254's 2013 climbers, as well as many others, but I don't understand how they work. (eg. Winch? Direct chain drive?) Even if they don't directly apply to this year's game, they could be useful info into climbers in general.

Thanks!

-Razer0901

[Jon Stratis]

In 2010 (Breakaway), we lifted our robot using a single CIM motor, geared through a DeWalt transmission and attached to a boat winch. http://www.thebluealliance.com/match/2010mo_qm64

In 2013 (Ultimate Ascent), we lifted up all 3 levels using 2 mini-CIM's geared through a Toughbox Mini, and attached to a homemade winch. http://www.thebluealliance.com/match/2013mndu_qm77

Let me know if you want any more details about our mechanisms!

[D.Allred]

Originally Posted by Razer0901

Hello everyone,

As a second year team, we are looking for advice for mechanisms to climb the tower. We are looking into using an elevator like what many teams used in 2011 for their lift (eg. 254's) , but without a reference we have no idea what kind of gearbox/motors we would need to lift up our robot (120 lb)

I understand that without knowing the sizes of the drum or the lift configuration it would be hard to determine the gearing and ratio of the power, but could anyone tell us what we would be looking at for power? CIMs? MiniCIMs? 1:10? 1:50? 1:75? Also, if ratio goes above 1:10 what kind of COTS gearboxes are we looking at since drivetrain gearboxes are usually 1:10, and VersaPlanatary can't take CIMs above 1:50ish based on the recommendations.

Also could people provide insight into successful climbers in general and how they were implemented? I have seen 1114's 2013 climber, 254's 2013 climbers, as well as many others, but I don't understand how they work. (eg. Winch? Direct chain drive?) Even if they don't directly apply to this year's game, they could be useful info into climbers in general.

Thanks!

-Razer0901

Use the JVN calculation spreadsheet that is published on ChiefDelphi. There is a "Linear Mechanism" tab that allows you to select motors, gear ratios, pulley diameter, number of motors used, load, and distance. The spreadsheet will calculate estimated speed and motor load. Load the motor at no more than 25% of stall amps is a good rule of thumb.

http://www.chiefdelphi.com/media/papers/3188

This is a great "Behind the Lines" presentation on motor gear selection with Ken Stafford and the GameSense crew.

https://www.youtube.com/watch?v=WPX3z-qLSk0

Good luck with your build season!

David

[Razer0901]

Thanks for all the responses! Will look into the resources provided!

Thanks!

-Razer0901