22-05-2008 20:44

vivek16

Re: pic: 1625's shooter ready to fire

Wow. I have been waiting for these pics for a while now

That is pretty innovative (but simple).

I like it.

-Vivek

22-05-2008 21:21

techtiger1

Re: pic: 1625's shooter ready to fire

1625 is awesome. Everyone on 1251's scouting would like rave about you guys in Newton. I'm glad we got to play with instead of against you guys in Elims. Great robot this year, innovative,proven, and effective. Good luck at IRI to Aren and the rest of the 1625 crew.

22-05-2008 21:41

Karthik

Re: pic: 1625's shooter ready to fire

Congratulations to the gang at 1625 on coming up with such a simple and elegant solution. Pretty much everyone from 1114 had the same reaction when we checked out your shooting mechanism in Chicago, "That's so cool!".

22-05-2008 21:48

XaulZan11

Re: pic: 1625's shooter ready to fire

I like how the shooter has the words "Sucker Punch" on it.

Nice work 1625 on another fantastic robot.

22-05-2008 22:19

cbale2000

Re: pic: 1625's shooter ready to fire

Took me a while to figure out how it worked, glad you posted the second picture of it as well.


Very simple, yet effective design.

22-05-2008 23:51

bigbeezy

Re: pic: 1625's shooter ready to fire

wow great design! took me a second to figure it out. never would have thought of that... I assume you have a pot or other sensor so you dont miss fire.

23-05-2008 00:43

Aren_Hill

Re: pic: 1625's shooter ready to fire

its got an ma3 absolute analog encoder on the other end of the shaft of the big sprocket to tell it where its at.

this mechanism never gave us a problem during the whole season, very easy to maintain

(also i came up with this linkage concept 4 years ago playing with legos....)

23-05-2008 01:46

AdamHeard

Re: pic: 1625's shooter ready to fire

What is that giant heatsink on?

23-05-2008 07:22

sgreco

Re: pic: 1625's shooter ready to fire

Pretty winnovative

Seriously though, that is one pretty awsome shooter.

23-05-2008 11:15

Leav

Re: pic: 1625's shooter ready to fire

err..... how does it work?

I'm guessing the arm has freedom to move inside the half-circle?

-Leav

23-05-2008 11:26

Aren_Hill

Re: pic: 1625's shooter ready to fire

the FP motor that steers the wheels, it actually helps for when the bots running for more than 2 minutes.

Leav, look at the next picture of our shooter and you'll get a better idea how it works, its kinda tough to do with words.

We wanted to accomplish a punching mechanism without having any other actuation, as we've never used pneumatics once in our 4 years and another motor is more weight.

23-05-2008 15:25

Andrew141WOBOT

Re: pic: 1625's shooter ready to fire

Are there any safety features on it?

23-05-2008 15:32

Aren_Hill

Re: pic: 1625's shooter ready to fire

it doesn't move if we don't tell it to, by leaving the anti-backdrive pins in the dewalt. And if it dry fires nothing goes flying. It only is able to shoot when in the correct firing position. besides that we just used our "don't be stupid" policy and it hasn't gotten anywhere near to harming anything

23-05-2008 18:25

Andrew141WOBOT

Re: pic: 1625's shooter ready to fire

So if I were to bump the wheel when it is loaded it wouldn't shoot?
You use a crab drive right?

23-05-2008 18:51

Aren_Hill

Re: pic: 1625's shooter ready to fire

you'd have to apply ALOT of downwards force on the linkage arms in order to fire it "accidentally". And yes we've got a 2 speed swerve drive

24-05-2008 13:32

Aren_Hill

Re: pic: 1625's shooter ready to fire

okay, heres how this thing works. In this picture the shooter is currently ready to fire.
there are two linkages, one hinged to the puncher itself and one hinged to the large sprocket, then connected together. Currently the forward force of the surgical tubing is holding the linkage quite tightly against a catch on the face of the sprocket. In order to fire the large sprocket rotates, moving the hinge point of the rear linkage over center and therefore there is no catch to stop the puncher from flying forward, hence it flies forward.

this leaves the shooter in "unloaded position but both linkages fully outstretched.
The large sprocket then rotates the same direction it did to fire, drawing back the rear hinge point hence partially loading the shooter. Then once the hinge point 180deg from where it was the catch grabs the linkage and it does another 170deg rotation, to be back ready to fire.

i hope thats not to confusing, i managed to explain it to people in person but alot of talking with the hands was involved

25-05-2008 08:50

sgreco

Re: pic: 1625's shooter ready to fire

That shooter is very impressive. I watched you guys in some of your matches and I extremely impressed. I know this thread is about your shooter, but your drive train is incredibly cool as well. Do you have any pictures or CAD models that you can post of the drive train?

25-05-2008 14:33

hillale

Re: pic: 1625's shooter ready to fire

Here are a couple links of pics already posted:

Single Module

Corner of robot focusing on a module

28-05-2008 13:44

Dan Petrovic

Re: pic: 1625's shooter ready to fire

So, from where we are looking, the sprocket rotates counter-clockwise, the metal semi-circle that is attached to the sprocket hooks the bolt connecting the two bars and draws them back?

That's pretty neat. I like how this is all accomplished without pneumatics.

28-05-2008 13:55

Aren_Hill

Re: pic: 1625's shooter ready to fire

its fully loaded at the moment, and you can see the catch holding the linkage back. So right now in order to fire it would rotate clockwise till the sprocket pivot point goes under the linkage, therefore passing center and allowing it to swing free.

The aluminum bolted to the sprocket is just to give the linkage a flat plane to slide on.

29-05-2008 11:15

T3_1565

Re: pic: 1625's shooter ready to fire

that is a wonderful design! I love Linkages Seems really simple too. Did you have any problem with the tubing?? Our team always had problems with it in our first year, so we never looked at it again haha! I suppose maybe we should... it helped make an amazing robot!

29-05-2008 14:17

Aren_Hill

Re: pic: 1625's shooter ready to fire

problems such as?
it was ziptied in place to whatever it went around.

30-05-2008 11:14

T3_1565

Re: pic: 1625's shooter ready to fire

problems as in ripping and stretching... I saw a whole bunch of people using it this year so I'm going to assume in 2005 we had a bad batch or... we were really bad at using it haha

19-06-2008 01:44

sportzkrazzy

Re: pic: 1625's shooter ready to fire

Yeah that thing was a beast to play along side of in colorado. Just wish we wondent have fried our computer.lol. Hope to play along side u guys agian someday.