15-08-2014 00:14

nathannfm

Re: pic: FRC 1086 Off-season teaser #1

Very nice, looks like everything could be done without a mill or maybe even a lathe, correct?

15-08-2014 05:40

asid61

Re: pic: FRC 1086 Off-season teaser #1

Looks good. Is that the only support plate, or will there be a second one beneath?

15-08-2014 07:43

tr6scott

Re: pic: FRC 1086 Off-season teaser #1

I'm guessing not photography?

http://www.mcbride4.org/?attachment_id=207

15-08-2014 07:46

Electronica1

Re: pic: FRC 1086 Off-season teaser #1

Quote:

Originally Posted by nathannfm Very nice, looks like everything could be done without a mill or maybe even a lathe, correct?

Quote:

Originally Posted by asid61 Looks good. Is that the only support plate, or will there be a second one beneath?

15-08-2014 08:10

Gdeaver

Re: pic: FRC 1086 Off-season teaser #1

Can't see inside but, That hole looks like it is for accessing a set screw. The transfer axial should be designed so that the axle is constrained eliminating the need for a set screw. Racking. What is going to keep the lower module from becoming a parallelogram under high stress and load? Did you use thrust bearing for the miter gear loads or are you putting this on the ball bearings? What wheel is that? Allot of cantilevered load for that single mounting plate and those welds. How is this going to be driven? Is it a module or are you going to use a separate power pack? Only way to know what you got is to put it on a fully loaded robot frame and drive the hell out of it. See what wears. Igus bushing instead of bronze?

15-08-2014 10:56

JDGallagher

Re: pic: FRC 1086 Off-season teaser #1

Quote:

Originally Posted by Gdeaver Can't see inside but, That hole looks like it is for accessing a set screw. The transfer axial should be designed so that the axle is constrained eliminating the need for a set screw. Racking. What is going to keep the lower module from becoming a parallelogram under high stress and load? Did you use thrust bearing for the miter gear loads or are you putting this on the ball bearings? What wheel is that? Allot of cantilevered load for that single mounting plate and those welds. How is this going to be driven? Is it a module or are you going to use a separate power pack? Only way to know what you got is to put it on a fully loaded robot frame and drive the hell out of it. See what wears. Igus bushing instead of bronze?

15-08-2014 10:59

JDGallagher

Re: pic: FRC 1086 Off-season teaser #1

It's also worth noting that the internal support is not visible in this picture because this version of our design hadn't incorporated them.

15-08-2014 11:02

jwfoss

Re: pic: FRC 1086 Off-season teaser #1

Quote:

Originally Posted by JDGallagher There are internal support braces that will keep the lower part rigid. It is a module. 1 Cim 1 mini cam per module. Also it's worth noting that on the final version we will be using our own custom 2" performance wheel instead of the wheel you see there.

15-08-2014 11:35

JDGallagher

Re: pic: FRC 1086 Off-season teaser #1

Quote:

Originally Posted by jwfoss 2" Diameter? How concerned are you with the wear rate? With Live axles I'd suggest taking a look at other solid rubber wheels, perhaps a Colson.

15-08-2014 17:38

mrmummert

Re: pic: FRC 1086 Off-season teaser #1

Is this something we'll see at the Rumble in October?

15-08-2014 20:19

nathannfm

Re: pic: FRC 1086 Off-season teaser #1

Quote:

Originally Posted by JDGallagher It is a module. 1 Cim 1 mini cam per module.

15-08-2014 20:38

Electronica1

Re: pic: FRC 1086 Off-season teaser #1

Quote:

Originally Posted by nathannfm You mean 1 CIM to drive it and 1 Mini CIM to turn it?

15-08-2014 21:07

Tyler2517

Re: pic: FRC 1086 Off-season teaser #1

Quote:

Originally Posted by Electronica1 No, we were looking at how some teams were running 8 motors to drive their octocanums, so we thought it would be cool to give the same treatment to swerve. We use andymark motors to turn them.

16-08-2014 18:22

cadandcookies

Re: pic: FRC 1086 Off-season teaser #1

Looks like exactly what the off season is for. Make sure to post lots of puctures, and maybe a writeup when you're done? I really like the idea of a lower barrier of entry for swerve.

Good job, keep us updated!

16-08-2014 22:41

asid61

Re: pic: FRC 1086 Off-season teaser #1

Quote:

Originally Posted by Electronica1 That is the only support plate. The module mounts nicely with the old style kop c channel.

16-08-2014 22:44

Electronica1

Re: pic: FRC 1086 Off-season teaser #1

Quote:

Originally Posted by asid61 Very nice then. I assume you're going with an upside-down CIM due to the height of the welded spacer?

18-08-2014 06:44

RKazmer

Re: pic: FRC 1086 Off-season teaser #1

Ah I see what you guys are doing.....Is that a REAL organizational bin for electrical? Good on you guys.

18-08-2014 07:35

wilsonmw04

Re: pic: FRC 1086 Off-season teaser #1

Quote:

Originally Posted by RKazmer Ah I see what you guys are doing.....Is that a REAL organizational bin for electrical? Good on you guys.

18-08-2014 13:54

PayneTrain

Re: pic: FRC 1086 Off-season teaser #1

Quote:

Originally Posted by RKazmer Ah I see what you guys are doing.....Is that a REAL organizational bin for electrical? Good on you guys.

04-09-2014 19:26

MarkoRamius1086

Re: pic: FRC 1086 Off-season teaser #1

I never thought I would ever see this Black Project hit the web!

There is a fair amount of millwork and lathework involved to make this piece of artwork function properly. It is not a perfect design, if the students decide to pursue it for a competition robot they will have to make a couple small changes (lessons learned is where experience comes from). The really neat thing about this design is how compact the students were able to package the drivetrain portion of it. The wheel and the horizontal bevel gear have only ~1/16" of clearance, and you can't even hardly see the clearance between the vertical bevel gear and the chain/sprocket. I would hope they had planned it that way instead of winging it.

@Gdeaver, one question at a time. The set screw system was already machined into the bevel gears we ordered... a snap ring would not fit I believe. You would have to ask the actual designer to verify that.

Honestly, the side load thing is an issue, but I was going to wait for something to blow and let them figure it out. Most of them don't read Chief Delphi on a regular basis anyways so I should be safe! There are normal ball bearings under the washers, but the flanges are on the inside of the assembled housing. I am sure for a final the housing will have more support lower to prevent the force of an impact from creating a moment that would deform the housing to, yes, a parallelogram. That and a support shaft on the inside to prevent the inner race of the ball bearing from taking the brunt of a load that you would expect from Worlds or IRI.

I really am proud of the kids for cooking this prototype up and can't wait to see what the next revision (hopefully an untested REV2 isn't on the final robot...) will turn out like!

Regards,
Petrie

05-09-2014 03:33

asid61

Re: pic: FRC 1086 Off-season teaser #1

Make sure to test under load. Ram it into some old robots.