23-02-2005 09:26

JulieB

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

So .. how did you figure out how to wire that bad boy

23-02-2005 09:26

Denman

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

pretty nice
Obvious question :
Weight
Does the arm extend as well? My guess is that it rotates and can slide out along the arm to get to the top goal?

23-02-2005 09:48

tiffany34990

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

is that an omini drive ??? or how is this drive train set up???

very interesting structure

good job though--good luck

23-02-2005 10:06

Jeremy Roberts

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

Yup. It's omni drive. We have 4 wheels at 45 degree angles around the octagonal structure of the base. The arm is telescopic...one stage in one direction and 2 stage in the other (hence the end effector on either side). There are lots of other goodies packed in there (mechanically and electrically). The pictures does not show a lot of detail, but we will have more pics coming on the CircuitRunner site.

Oh...we were 117lbs at ship. We have weight on there that can be easily taken off. That leaves enough for our protective paneling and whatever else will bring us up to 119.9 .

23-02-2005 14:11

JulieB

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

FAST TO

Really don't know how the arm works but the drive train its FAST!!

23-02-2005 19:34

shtylman

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

The arm is pretty much a square tube inside of another with a rack running down it. I think this is by far the best robot we have built to date (considering we only have two other robots to compare to).

23-02-2005 19:45

speedbuggy76

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

Yeah I am very proud of our robot this year. Last year was my first year and we won our regional, so that was a great way for me to start, but I think that the design process behind this year's robot was much better. Everything went a lot smoother this year, the drive train amazes me, and the arm seems like it will be very competitive. Thanks a lot to all our mentors and all the other people on our team, it was a great build! I can't wait to get to competition!

See you at Peachtree and Boilermaker !

23-02-2005 21:02

Gcube9x

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

When I think about how much everyone worked on the robot, it just amazes me. Everyone has something they can engrave their name on as being THEIR system, and there are parts that deserve to have two or three names on them...I love it.
We were up til 6AM trying to finish on ship day...and pretty much did, so I am very pleased with our robot being done before the deadline...for once.
It will prove fun to drive this thing...

23-02-2005 21:16

jpsaul7usa

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

Wow, our teams and robots are strikingly similar. This is our team's 3rd year/robot and we won our regional last year too. Here's an image of our robot a few days before ship date: 1212's Robot We're running on 4 omni's and have a telescopic arm, but it only opens in one direction

Are you using a winch or pneumatics to extend your arm? If so is that the motor on the end of your arm? Why two directions? And what's that horizontal bar for?

23-02-2005 21:28

Stefan

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

Rack and pinion makes the arm expand

Cableing makes it rotate and a pneumatic piston for extra support (its got some insane torque)

Note on arm: It owned 2 people in 2 seconds around midnight on sunday yes i was one of them and it was all on camera....

Two directions well you have 2 types of goal height..... so one end is only for the smaller of the 2.... and a higher res ver of that image can be found Here

23-02-2005 21:32

Gcube9x

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

Van-door gearbox moves outer arm, globe gearbox moves inner arm.
That bar you see is a door handle .

Oh, the extruded and pvc are obviously end effectors.

23-02-2005 21:58

Andrew Y.

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

i didnt get to work on the robot much this year but from wut i saw durring srimmage, i praise the robot. love the omni drive!

team 1212 - how does your omni work exactly?

23-02-2005 22:12

stealth13777

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

To answer an earlier question, wiring took a lot. We have over 200 crimps (for ease of length change, short wires off speed controllers, spikes, etc and the controller, then put the length needed between. We used a lebeler to label everything though, so most of the wires are very easy to trace for troubleshooting . This is my first year, speedbuggy basically tought me everything as we worked. I would also like to know how the omni drive works for the other team that has it.

23-02-2005 22:14

408Oxidation

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

Wow the electrical sounds like a b!tch to debug... Labels... hmm good idea, why didn't I think of that?

23-02-2005 22:20

Gcube9x

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

Doesn't it work the same as ours? Two wheels go forward, two go reverse, low friction gives most of the power of all 4 motors in the forward direction.

24-02-2005 00:13

jpsaul7usa

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

Our wheels work like traditional omni-wheels. They aren't at 45 degree angles from the sides like yours, so we really only have 2 motors for any given direction if we're pushing using any of our sides. We were thinking of using AndyMark's converter to put 2 motors on each wheel, but the time and weight required didn't meet our needs. We're fast and graceful, and our team has a bad history of getting into pushing matches, so why bother? And I really don't want to see any harm come to those thin plexiglass panels I helped make ;p

Oh, and our wheels are custom designed. Each omni-wheel has 112 spacers, nuts, bolts, washers, wheels, and hubs, each hand assembled, tightened, and filed. We ordered the smaller wheels from the blue book but the supplier ran out, so abou 1/3 of our wheels don't match

This is going to make me sound like a dunce, but what are rack and pinion?

24-02-2005 00:17

mizscience

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

very interesting design...

24-02-2005 00:26

Max Lobovsky

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

A rack is basically a gear with infinite radius. It's a straight line of teeth standing up. The pinion is the gear that meshes with the rack. By turning the pinion, you can move the rack along its length. Its a method for converting rotational to linear motion.

I think this robot brings the count of known holonomic drives this year to 4: 1257, 1002, 1212, and 1083

24-02-2005 18:38

alphastryk

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

i love that pic...

we are going to be very competitive this year...

24-02-2005 18:43

Katy

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

how is your center of gravity?

24-02-2005 18:45

speedbuggy76

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

Our center of gravity is good actually. The arm is quite heavy but we have some good design put into that drive train (the wheels are pretty far apart ).

24-02-2005 18:47

sforsancho

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

Team 649 is using a killough drive system this year, and it is slick.

pictures to come

24-02-2005 20:28

Andrew Y.

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

ilove wut u said matt.....i really do

24-02-2005 20:53

stealth13777

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

Interesting way of making the omnis. I have seen ones like yours on one other team's bot and wondered about them. Matt couldn't have put his comment any better.

24-02-2005 21:24

Gcube9x

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

I am soo anticipating our first match!

24-02-2005 21:39

Jeremy Roberts

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

I look forward to seeing it. We particularly faced the challenge of weight distribution on the robot. Our drive relies on some pretty heavy feedback control to keep us going where we want to (with tetras, without, arm extended, retract, alternate base configurations etc.)

<Message to CircuitRunners>
I know your excited but don't use the CD forum as a chat room to talk among yourselves. Take it to the CircuitBoard or some instant messaging software. I can't wait either.
<End message>

24-02-2005 23:34

Pin Man

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

getting at the controls looks to be a pain... I know we always make sure we have our electronics at easy access because somehting always has to go wrong...


Looks great though... Can't wait to see it in action...

25-02-2005 00:41

speedbuggy76

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

the electronics really is not that hard to get to. I know it is not very pretty like on some other robots, but it is labelled and is not very difficult to access. We also had a harder time doing electronics this year because of the odd amounts, shapes, and areas of where we could mount to.

28-02-2005 23:56

Nathan Pell

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

Just curious... how did you know that 1083 is doing holonomic again this year? I am just wondering....

Thanks!
Nathan Pell
Team Leader

01-03-2005 00:01

Herbie698

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

it looks to me that it can be easily tipped over...if not, how did you manage to keep it to stay upright?

01-03-2005 08:23

Mr MOE

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

Nice looking bot. Can't wait to see it in action.

01-03-2005 21:02

sforsancho

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

We FIRSTers can read minds...

or we just read the forums: http://www.chiefdelphi.com/forums/sh...ad.php?t=34640

01-03-2005 23:59

Andrew Y.

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

hmm.......that is kinda a suprise our robot will woop out....i wouldnt want to spoil a suprise!

wut regionals will u guys be at?

05-03-2005 18:27

jpsaul7usa

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

How did the robot work out? Can you give any driving tips/strategy advice to us fellow omni-wheelers after you finished your weekend @ Peachtree?

Oh, and congrats 1002 on the Chairman's Award!!!

06-03-2005 02:07

Jizvonius

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

Here's some very important advice. Practice specific movements. There are specific movements that omni-drives can do that are a major advantage during a match, but they require some smooth, experienced control. (driving in controled arcs, etc.) Also, if you have an arm that moves your center of gravity, it can cause you to spin out at high speeds as different arm positions change the weight distribution on the wheels. So, practice a lot with your configuration and don't test drive and manipulator separately if you plan to use them together. If you saw us in quarter finals, you know what I mean. Good luck

06-03-2005 02:21

matt111

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

What regionals are you going to? My team is using those exact same wheel and we had them in the same orientation (45deg), but we could not get the programming right. We kept spinning wildly out of control, so we had to modify our design a bit (;X its a secret). If you are going to St Louis or Boilermaker, our team will be stopping by.

06-03-2005 11:28

Jeremy Roberts

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

We'll be at Boilermaker. Stop by anytime. We use a bit of feedback control to keep us going in the direction and orientation that we desire. The code is actually not that complex and we'd be willing to share. I'm interested in seeing this secret modification of yours. Good luck.

06-03-2005 12:31

jpsaul7usa

Re: pic: Team No. 1002 The CircuitRunners 2005 Robot

Thanks for the advice

Could you post your feedback code? 1212's robot doesn't have spin problems but it does drift some. I know our programmer would love to check it out. Also, do you know how many prelim matches there were total at Peachtree? Thanks