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By: Mike Hendricks
New: 12-02-2009 14:47
Updated: 12-02-2009 16:19
Views: 1686 times
It's a few days earlier than we wanted to show this off, but who cares.
Gyration, meet CD. CD, meet Gyration. For the few of you who wanted to see a control movement gyroscope on a 2009 bot, you're in luck. We managed to cut a few pounds here and there to allow us to put a 10lb gyro on our robot that is spun using a FP motor with an AM planetary and some of the Gates belts. Tilting is accomplished by a window motor.
Drivetrain is 2 CIMs mounted on Dewalts (no servos). We're leaving them in 12:1 (~8fps), although the bot does drive in 4:1 and 3:1 - you can do the math.
Conveyor is also powered by a CIM and a dewalt. The chain driven rollers hold and drive 2 serpentine belts to get the balls up to the top of the hopper. The hopper is constructed out of the same material that is used for windows in convertible cars.
Shooter. Once again, a CIM and a dewalt drive PVC rollers (note the chain rigging, so one spins backwards). Speed is controlled by the operator, which will enable easy adjustment for shooting short or long distances, into trailers or corners. It's also reversible, so it can spin backwards and pick up empty cells from the outpost(s).
Stay tuned for auton ..
Demo video: http://www.youtube.com/watch?v=Ed0Xgk0qqn8
Discussion
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12-02-2009 17:13
seanl
Re: pic: 1388: Gyration
nice job guys, we were going to attempt to put a gyro on ours as well but we scrapped the device because it was out of our weight constraints. good luck in your season and we'll see you guys at Long Beach.
12-02-2009 17:25
Zyik
Re: pic: 1388: Gyration
Is the mechanism for picking the balls up off the floor only one ball wide? That seems like it could be a serious disadvantage.
12-02-2009 17:27
AdamHeard
Re: pic: 1388: Gyration
Do you have an electronic gyro measuring your turning as well? It would seem to be extremely difficult to accurately turn via a spinning gyro without some closed-loop control software.
12-02-2009 17:56
Doug Leppard
Re: pic: 1388: Gyration
Wow you guys pulled it off. We looked at this method and built a proto-type but didn't think it would help as much and didn't have the room and weight, but you guys did it, congratulations.
12-02-2009 18:14
=Martin=Taylor=
Re: pic: 1388: Gyration
erm... I hope our 7lb. shooter drum doesn't affect our driving 
12-02-2009 19:24
Eric Bareiss
Re: pic: 1388: Gyration
I'm assuming you have the gyro spinning the same direction the whole time. Correct me if I'm wrong, but shouldn't the gyro tip side to side instead of front to back? The physics of this gyro looks sideways. If the gyro is spinning to the right and you tip it forward, the force would be forward, which doesn't help with turning.
12-02-2009 21:39
Ozeaden
Re: pic: 1388: Gyration
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Originally Posted by Eric Bareiss
I'm assuming you have the gyro spinning the same direction the whole time. Correct me if I'm wrong, but shouldn't the gyro tip side to side instead of front to back? The physics of this gyro looks sideways. If the gyro is spinning to the right and you tip it forward, the force would be forward, which doesn't help with turning.
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12-02-2009 21:59
Molten
Re: pic: 1388: Gyration
Ok, I got to know. What did you do to your bumpers? Did you wrap them to your frame?
12-02-2009 22:06
thefro526
Re: pic: 1388: Gyration
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Originally Posted by Molten
Ok, I got to know. What did you do to your bumpers? Did you wrap them to your frame?
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I really like the gyro idea though. It's very different and should land you an award... if not a win
12-02-2009 22:33
grantman54
Re: pic: 1388: Gyration
WOW im impressed with the outcome. seriously good work guys
13-02-2009 00:00
Joe Ross
Re: pic: 1388: Gyration
Very cool. I think you're well on your way to a 3rd straight creativity award.
See you in LA.
13-02-2009 00:36
Uberbots
Re: pic: 1388: Gyration
holy cow was that motor being back driven the whole time at the end of the video? that doesn't seem like a good idea ):
i think you need one of those whatchamacalit gears... the ones that freespin on backdrive
13-02-2009 01:17
R.C.
Re: pic: 1388: Gyration
Hope to see you guys at Davis, and is there protection for that fan btw. I can't tell in the video.
13-02-2009 02:14
Mike Hendricks
Re: pic: 1388: Gyration
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Originally Posted by Molten
Ok, I got to know. What did you do to your bumpers? Did you wrap them to your frame?
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Originally Posted by Uberbots
holy cow was that motor being back driven the whole time at the end of the video? that doesn't seem like a good idea ):
i think you need one of those whatchamacalit gears... the ones that freespin on backdrive |
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Originally Posted by rc_cola1323
Hope to see you guys at Davis, and is there protection for that fan btw. I can't tell in the video.
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Originally Posted by Joe Ross
Very cool. I think you're well on your way to a 3rd straight creativity award.
See you in LA. |
Come say hi sometime ..|
Originally Posted by AdamHeard
Do you have an electronic gyro measuring your turning as well? It would seem to be extremely difficult to accurately turn via a spinning gyro without some closed-loop control software.
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