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Team 971 Presents: Mammoth

switte

By: switte
New: 03-12-2014 02:39 PM
Updated: 03-12-2014 02:39 PM
Views: 5464 times


Team 971 Presents: Mammoth

FRC Team 971 proudly presents our 2014 robot, Mammoth.

Team 971 is sponsored by NASA Ames Research Facility, Google, Abbott Fund, St. Jude Medical Foundation, Screen-Tech, Creative Machining Solutions, Group Manufacturing Services Inc., CalMax Technology, EKG Precision Machining, Intuitive Surgical, Givmar Precision Machining, Solidworks, MVHS PTSA, The Linley Group, Auris, Whizz systems, Smith/McLain Family and Crispie Family, 971 Parents, Alumni and Friends

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03-12-2014 03:05 PM

AdamHeard


Unread Re: pic: Team 971 Presents: Mammoth

Intake isn't fast enough, also doesn't have enough control loops.

Just kidding, great looking bot. Excited to see it play this weekend!



03-12-2014 03:08 PM

Michael Corsetto


Unread Re: pic: Team 971 Presents: Mammoth

971 is the master of the intake.

Can't wait for this weekend!

-Mike



03-12-2014 03:09 PM

dodar


Unread Re: pic: Team 971 Presents: Mammoth

This thing will win regionals. Yes, that is plural.



03-12-2014 03:19 PM

Nick Lawrence


Unread Re: pic: Team 971 Presents: Mammoth

This is a gorgeous machine. Can't wait to watch it on the field.

-Nick



03-12-2014 03:19 PM

thefro526


Unread Re: pic: Team 971 Presents: Mammoth

Really enjoy the use of the intake to catch/pickup bouncing balls. It's a weird problem to solve, but you make it look effortless. Also, the over the back shot is so fun to watch.

And a question, just to satisfy my own curiosity - the hall-effect sensors on the Claw's pivot, is it safe to assume that each one of them corresponds to some unique position of the claw? Is there any reason for doing this sort of setup over an absolute encoder or similar sensor? Reliability? Cost? Simplicity?



03-12-2014 03:20 PM

Answer42


Unread Re: pic: Team 971 Presents: Mammoth

The separate upper and lower jaw is absolutely brilliant. Your programmers must have had fun with all those possibilities.



03-12-2014 03:21 PM

Mk.32


Unread Re: pic: Team 971 Presents: Mammoth

Amazing machine, can't wait to watch it in action!



03-12-2014 03:24 PM

Ty Tremblay


Unread Re: pic: Team 971 Presents: Mammoth

Big fan of the spinning lower forks to help center the ball.



03-12-2014 03:29 PM

Gregor


Unread Re: pic: Team 971 Presents: Mammoth

The motorized prongs are beautiful.



03-12-2014 03:35 PM

Tom Bottiglieri


Unread Re: pic: Team 971 Presents: Mammoth

It's cool to see the progress of your robot based on the amount of 2x4's and pools noodles attached to the top of our 2013 drive base.

Great job everyone on 971, this looks like an absolute beast of a machine. I look forward to playing together at SVR.



03-12-2014 03:53 PM

kevincrispie


Unread Re: pic: Team 971 Presents: Mammoth

Quote:
Originally Posted by Ty Tremblay View Post
Big fan of the spinning lower forks to help center the ball.
Quote:
Originally Posted by Gregor View Post
The motorized prongs are beautiful.
Many thanks. We're really proud of this design. Its something that we picked up on rather early and found it worked really well. The nice thing is that it allows us to center the ball without having the intake stick far out of the robot. In this year's wide open game, we felt it was necessary to keep things inside the frame as much as possible. We get a large intake width without having a large intake sticking out of the robot. It was difficult to package, but we are proud of the result. We are very excited to see how it does at Sacramento and SVR.

Quote:
Originally Posted by Answer42 View Post
The separate upper and lower jaw is absolutely brilliant. Your programmers must have had fun with all those possibilities.
Yes. It is really nice how we are able to use the full range of the claw, and this comes with the programmability of the robot. Austin can likely fill you in more in this area. We love how we can use both sides of the intake to grab the ball and shoot. We hope this allows for more flexible gameplay and will allow us to explore a wide variety of in-game strategies.

Quote:
Originally Posted by thefro526 View Post
And a question, just to satisfy my own curiosity - the hall-effect sensors on the Claw's pivot, is it safe to assume that each one of them corresponds to some unique position of the claw? Is there any reason for doing this sort of setup over an absolute encoder or similar sensor? Reliability? Cost? Simplicity?
We have 3 hall effect sensors and 1 encoder for each jaw. The hall effects are for zeroing. The one in the middle zeros the claw and the top and bottom hall effects set a software limit for each side of the claw.



03-12-2014 04:17 PM

AlecMataloni


Unread Re: pic: Team 971 Presents: Mammoth

Forget the flashy claw, take the bumpers off and show us some close ups of that frame design =)

I've been a huge fan of 971's fabrication techniques ever since I started paying close attention to your designs back in 2012. If you can post any amount of parts photos sometime this season, I'd be grateful.



03-12-2014 04:18 PM

Bob Steele


Unread Re: pic: Team 971 Presents: Mammoth

This is a great looking robot.
We hope to see you guys in St. Louis!!



03-12-2014 04:24 PM

kevincrispie


Unread Re: pic: Team 971 Presents: Mammoth

Quote:
Originally Posted by AlecMataloni View Post
Forget the flashy claw, take the bumpers off and show us some close ups of that frame design =)

I've been a huge fan of 971's fabrication techniques ever since I started paying close attention to your designs back in 2012. If you can post any amount of parts photos sometime this season, I'd be grateful.
I was wondering when someone would mention that .

I'll see what I can find. For those who can't see it up close in person, we'll likely post some pictures throughout the season, and make more public at by the season's end. The drivetrain is a result of 4+ years of iteration, and we tried to pay even more attention to detail. So far, we like the result.

Quote:
Originally Posted by Bob Steele View Post
This is a great looking robot.
We hope to see you guys in St. Louis!!
Thanks! You guys are looking good too. Good luck at your competitions as well.



03-12-2014 04:44 PM

Akash Rastogi


Unread Re: pic: Team 971 Presents: Mammoth

What are all the prongs and wheels in the intake powered by?

Super cool design! I really hope I can see it at IRI or something.



03-12-2014 04:54 PM

kevincrispie


Unread Re: pic: Team 971 Presents: Mammoth

Quote:
Originally Posted by Akash Rastogi View Post
What are all the prongs and wheels in the intake powered by?

Super cool design! I really hope I can see it at IRI or something.
Centering "Tusks" are each powered by 1 AndyMark. Top claw has 2 RS 550s. Shooter is 2 RS 550s.



03-12-2014 07:27 PM

xXhunter47Xx


Unread Re: pic: Team 971 Presents: Mammoth

I like the "jaws of not-death" intake. Very cool.
I also like the versatility (is that the word I want?) of the shooter, able to pick up and shoot in the opposite direction with little driving.



03-12-2014 07:40 PM

lemiant


Unread Re: pic: Team 971 Presents: Mammoth

Wow that is really sweet design. The whole time I was watching the video I was like "this robot has an uncanny ability to center the ball". I had to read the comments to find out why , I can see that making a big difference in competition.



03-12-2014 07:42 PM

s_forbes


Unread Re: pic: Team 971 Presents: Mammoth

Very cool machine! I think this is the most impressive bot posted so far in terms of ingenuity in the design approach and execution. The two independent moving arms that make up the grabber are a bold design decision that I don't think many teams would have attempted to pull off, if they even came up with the concept to begin with.

And belts everywhere!

I hope you make it to St. Louis, I want to check this out in person.



03-12-2014 07:50 PM

ErvinI


Unread Re: pic: Team 971 Presents: Mammoth

I love this robot already. One of the best intakes so far. Was the non-rectangular frame designed to accommodate the superstructure, or was there another reason for the slight bulge?



03-12-2014 07:51 PM

yash101


Unread Re: pic: Team 971 Presents: Mammoth

Gorgeous machine! . I love those round bumpers! They stand out

What is the range, accuracy, etc.?



03-12-2014 08:17 PM

switte


Unread Re: pic: Team 971 Presents: Mammoth

Quote:
Was the non-rectangular frame designed to accommodate the superstructure, or was there another reason for the slight bulge?
The octagonal drivebase was a concept that we played with in CAD during the offseason. One of the largest benefits of the octagonal drive base is that it increase our support base, which is especially helpful when our Cog ended up being a bit higher than we would have liked.

Quote:
And belts everywhere!
We do love those belts. We did have to compromise and include a few chains on out claws and the shooter because the math didn't work out

Quote:
What is the range, accuracy, etc.?
We have not really tested anything past the white zone because we did not see any shot beyond that point as extremely useful. As for the accuracy, I would put us at 90%-95%, but Davis will be a much better tell of that.



03-12-2014 09:42 PM

mman1506


Unread Re: pic: Team 971 Presents: Mammoth

So cool! The belt to chain reduction is really neat. I would also love to see close ups of the robot.



03-13-2014 02:28 AM

Scott Bahl


Unread Re: pic: Team 971 Presents: Mammoth

Quote:
Originally Posted by AdamHeard View Post
Intake isn't fast enough, also doesn't have enough control loops.

Just kidding, great looking bot. Excited to see it play this weekend!
Yeah I think Austin may have left out a control loop on one of the muffin fans.... I'll keep you posted.



03-13-2014 08:44 AM

DampRobot


Unread Re: pic: Team 971 Presents: Mammoth

Quote:
Originally Posted by Scott Bahl View Post
Yeah I think Austin may have left out a control loop on one of the muffin fans.... I'll keep you posted.
But how can you be sure that your drive motors are all cooled in exactly the same way without temperature PID?

From the bits and pieces I saw of this robot, I never appreciated until now how awesome this design could be. Congratulations guys, this guy is truly a technological marvel. Now, the only thing it's missing is the drum shifter...



03-13-2014 11:00 AM

kevincrispie


Unread Re: pic: Team 971 Presents: Mammoth

Quote:
Originally Posted by DampRobot View Post
But how can you be sure that your drive motors are all cooled in exactly the same way without temperature PID?

From the bits and pieces I saw of this robot, I never appreciated until now how awesome this design could be. Congratulations guys, this guy is truly a technological marvel. Now, the only thing it's missing is the drum shifter...
Hey, we have to leave something for next year . Though those transmissions certainly have a lot of parts. Not always feasible for a 6 week long build season.
Good luck at Davis.



03-13-2014 11:07 AM

cadandcookies


Unread Re: pic: Team 971 Presents: Mammoth

Fantastic design. I'll join the praise of that intake-- it really looks like the best I've seen yet.

I'll also join in hoping you guys release olenty of pictures. Such excellent design ought to be shown off!

Do you have any sort of locking on your rotation? If not, what motors are you using for that?



03-13-2014 11:12 AM

kevincrispie


Unread Re: pic: Team 971 Presents: Mammoth

Quote:
Originally Posted by cadandcookies View Post
Fantastic design. I'll join the praise of that intake-- it really looks like the best I've seen yet.

I'll also join in hoping you guys release olenty of pictures. Such excellent design ought to be shown off!

Do you have any sort of locking on your rotation? If not, what motors are you using for that?
Rotation of the arms or rotation of the intake?

I answered the intake in a previous post, so I'm guessing you mean the arms.

Each jaw is powered by a CIM. The belts at the back along the A frame each go to a gear box. We put the motors down low for weight/COG concerns. We put another reduction up higher on the A frame. We put control loops on the jaws.

We will post some pictures at some point. Since we'll be a competition, we likely won't be able to until after this weekend. The plan is to have all pictures public by the end of the season.



03-13-2014 11:56 AM

cadandcookies


Unread Re: pic: Team 971 Presents: Mammoth

Quote:
Originally Posted by kevincrispie View Post
Rotation of the arms or rotation of the intake?

I answered the intake in a previous post, so I'm guessing you mean the arms.

Each jaw is powered by a CIM. The belts at the back along the A frame each go to a gear box. We put the motors down low for weight/COG concerns. We put another reduction up higher on the A frame. We put control loops on the jaws.

We will post some pictures at some point. Since we'll be a competition, we likely won't be able to until after this weekend. The plan is to have all pictures public by the end of the season.
Yeah, I meant the entire shooter assembly rotation. Thank you for answering my questions, and best of luck this season!



03-13-2014 12:02 PM

kevincrispie


Unread Re: pic: Team 971 Presents: Mammoth

Quote:
Originally Posted by cadandcookies View Post
Yeah, I meant the entire shooter assembly rotation. Thank you for answering my questions, and best of luck this season!
Thanks, Good luck to your team as well. It might be a challenge to answer them all with our competition starting, but if anyone has any questions feel free to ask. For those coming to Davis be sure to stop by the pit to take a look.



03-13-2014 12:15 PM

mdiradoorian


Unread Re: pic: Team 971 Presents: Mammoth

Wow this robot looks really nice! I love the fact that it could shoot at nearly any angle, making it a very tough robot to defend. Can't wait to see it play this weekend! Good Luck!!



03-16-2014 03:40 PM

GoldenSpartan


Unread Re: pic: Team 971 Presents: Mammoth

A video of the match we got knocked down but got right back up.
To quote the announcer(1:05):"This is what happens when you cross the Mammoth, the Mammoth WINS"

https://www.youtube.com/watch?v=XwmP...e_gdata_player



03-16-2014 07:10 PM

RoboChair


Unread Re: pic: Team 971 Presents: Mammoth

I am a little sad that I did not get to witness that in person. My first thought after seeing you guys get back up was WOW that was so fast, a blink and you miss it moment! Getting back up after a fall is a legendary event for any team!



03-16-2014 11:19 PM

Tytus Gerrish


Unread Re: pic: Team 971 Presents: Mammoth

i like the chassis shape



03-17-2014 12:51 AM

DampRobot


Unread Re: pic: Team 971 Presents: Mammoth

It was truly awe inspiring to see this guy compete at Davis. It seems like 971 just hit it out of the park with this one. Everything about this machine is extremely fast, accurate and overpowered. I can't wait to see it in action (and play with/against it) at SVR.



03-17-2014 08:44 AM

AustinSchuh


Unread Re: pic: Team 971 Presents: Mammoth

Quote:
Originally Posted by Tytus Gerrish View Post
i like the chassis shape
Thanks Tytus. We took some inspiration from your 2005 frame.



03-17-2014 11:44 AM

billbo911


Unread Re: pic: Team 971 Presents: Mammoth

Sorry I never had an opportunity to swing by your pit and get a really good tour of your robot, although I did do the inspection on it, there were a few details that didn't need to look at to pass your inspection, but would love to know

I know you are running 4 CIM drive, 2 per side through WCP gear boxes with custom side plates. What are your final total reductions to the wheels for low and high gear?

Were all three wheels on a side in line, or was the center offset outward?



03-17-2014 10:47 PM

Travis Schuh


Unread Re: pic: Team 971 Presents: Mammoth

Quote:
Originally Posted by billbo911 View Post
Sorry I never had an opportunity to swing by your pit and get a really good tour of your robot, although I did do the inspection on it, there were a few details that didn't need to look at to pass your inspection, but would love to know

I know you are running 4 CIM drive, 2 per side through WCP gear boxes with custom side plates. What are your final total reductions to the wheels for low and high gear?

Were all three wheels on a side in line, or was the center offset outward?
We are geared for 9 and 17fps based on a 5500RPM free speed.

The wheels are staggared so the center wheels are at the outside (pretty much like http://www.chiefdelphi.com/forums/sh...ad.php?t=38184 but with the center wheel directly driven and belts instead of chains going to the outer wheels, and all in sheet metal). We will try to get some more photos up once things calm down.



03-17-2014 11:38 PM

xraymypanda


Unread Re: pic: Team 971 Presents: Mammoth

After getting the opportunity to play two hard fought matches against this bot, I was absolutely awestruck at how consistent and quick this robot was. Defense against it is pointless. Truly, you guys have engineered an excellent machine.



03-18-2014 12:07 AM

kevincrispie


Unread Re: pic: Team 971 Presents: Mammoth

Quote:
Originally Posted by xraymypanda View Post
After getting the opportunity to play two hard fought matches against this bot, I was absolutely awestruck at how consistent and quick this robot was. Defense against it is pointless. Truly, you guys have engineered an excellent machine.
Thank you! Those matches were great to watch. You guys really gave it your all. Defense may not have stopped us, but it certainly slowed us down. We put a lot of priority on designing drivetrains that can avoid defense and train our drivers to get around tough d. But thank you for the praise of our robot. The team worked very hard this year and we are pleased with the result.

599 built a great machine this year. I was impressed how good you guys were at assisting at Davis and Inland Empire. In a year where many teams went for shooting, you guys built a well rounded robot that could play the point and put in a few shots yourselves. It was great having you guys make the trip to Davis this year.



03-18-2014 12:19 AM



Unread Re: pic: Team 971 Presents: Mammoth

Quote:
Originally Posted by kevincrispie View Post
We put a lot of priority on designing drivetrains that can avoid defense and train our drivers to get around tough d.
Could you go into detail on how you designed your drivetrain to avoid defense?



03-18-2014 12:33 AM

kevincrispie


Unread Re: pic: Team 971 Presents: Mammoth

Quote:
Originally Posted by Andrew Lawrence View Post
Could you go into detail on how you designed your drivetrain to avoid defense?
The drivetrain has been continuously iterated for the last 6+ years. Each year we try to make things better, cleaner, and more efficient. A lot of what we do makes the drivetrain easier to maintain and service, and other changes help increase the general mobility of the drivetrain, which helps with offense and defense.

This year, with the wider wheelbase, we've been able to reduce the negative effects of a high cg. This certainly helps against defense. We've also gone with the conventional 4 CIMs, a change from last year, when we blew breakers more often than we cared for. This helps us not die as a result of a hard pushing match. On the maintenance side, we've also done more research into how to properly tension belts to help them last longer in competition. There are some other small benefits here and there. I encourage you to stop by our pit at SVR to take a look. It's always easier to show rather than tell, and nothing beats the real thing.



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