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So for the past several years Team 116 has been refining our removable modular control system design. Behold the system for ED v17.0. As with past practice, the system contains all the control computing, communications, and power distribution for the competition robot. The entire assembly can be pulled from the robot and be on the workbench for maintenance in under 30 seconds. Re-assembly and re-installation admittedly takes slightly longer (and is best managed as a two-person job).
After several years of experimenting with methods for reducing the volume of the control system, this is possibly our penultimate design. Penultimate in that, based upon the current trends, we have one more iteration to go before the density of the control system box approaches that of a small neutron star and it gains the potential to become a singularity. Then, whether or not it fits in the robot will be the least of our worries.
Discussion
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22-02-2016 08:35
Andy Baker
Re: pic: Epsilon Delta v17.0 Control System
This is very difficult work to do. Kudos to team 116 for developing some great experience for budding packaging engineers.
While this is all wonderfull and good, I am a bit distracted by your ******* 15 SPEED CONTROLLERS ********
What do you have? Here is a guess:
- unicorn swerve drive (8 motors)
- dual motor tuned shooter (2)
- manipulators in front and back (2)
- 3-motor scaling arm, 2 for lifting, one for pivot (3)
This may be a ingenious contraption for the ages, or a hot mess. I wanna see pictures and video!
Andy B.
22-02-2016 09:08
JesseK
Re: pic: Epsilon Delta v17.0 Control System
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Originally Posted by Andy Baker
15 SPEED CONTROLLERS
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See you guys in week 1!
22-02-2016 10:06
otherguy
Re: pic: Epsilon Delta v17.0 Control System
First I have to say that's a pretty impressive packaging job. I can imagine how much work went into getting everything to fit.
I'm curious how you plan on addressing R40 though. "The PDP and all circuit breakers must be easily visible for inspection"
Do you plan on having to disassemble your robot as part of the inspection process?
The reason I ask, our PD board is "easily" visible if you remove our bumpers and crouch down with a flashlight, I'm dreading the inspection that finds my PD boards visibility not "easy" enough. There are few highly visible places to put it on a robot that's got to fit under the low bar. I imagine this is a challenge most teams building a short bot have had to address.
Since it seems yyou've built this kind of box in the past, what's been your experience with inspection?
22-02-2016 10:07
wilsonmw04
Re: pic: Epsilon Delta v17.0 Control System
I only count 14 snap action breakers. I call shenanigans :-)
22-02-2016 10:29
Ari423
Re: pic: Epsilon Delta v17.0 Control System
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Originally Posted by wilsonmw04
I only count 14 snap action breakers. I call shenanigans :-)
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I have no words. I can't imagine how much planning that took and how much time it took to assemble that.
22-02-2016 10:35
Iaquinto.Joe
Re: pic: Epsilon Delta v17.0 Control System
Really cool. I can imagine the hard work it took! Getting it right is definitely worth it though. Keep it up!
22-02-2016 10:49
wilsonmw04
Re: pic: Epsilon Delta v17.0 Control System
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Originally Posted by Ari423
It's 16, count again.
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3 x 30 Amp
2 x 20 Amp +
1 x 5 Amp
__________
14 snap action breakers. I counted 5 times before I posted...
22-02-2016 10:59
Chris is me
Re: pic: Epsilon Delta v17.0 Control System
It's not uncommon for teams to wire more speed controllers than they need, in order for them to quickly switch to a backup in case of a failure. Based on all 15 being wired to the PDB but only 13 having breakers, I'm assuming this is the case here.
I'm guessing they have a 6 motor drive, 2 motor shooter, a motorized drop down intake (at least 2 motors), and 2 to lift with 1 for something else (extra motor for intake, or a pivot for their lift)
22-02-2016 11:06
kmodos
Re: pic: Epsilon Delta v17.0 Control System
Very nice box. We have something similar, but ours does not fold down. These drop in electrical boxes seem to be getting more popular.
22-02-2016 11:12
EricLeifermann
Re: pic: Epsilon Delta v17.0 Control System
Very nice. We did this on 93 in 2004 and 2005. Is an awesome space saver, though the electrical team didn't like wiring it up...
22-02-2016 11:26
Ari423
Re: pic: Epsilon Delta v17.0 Control System
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Originally Posted by wilsonmw04
8 x 40 Amp
3 x 30 Amp 2 x 20 Amp + 1 x 5 Amp __________ 14 snap action breakers. I counted 5 times before I posted... |
23-02-2016 09:43
JacobD
Re: pic: Epsilon Delta v17.0 Control System
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Originally Posted by otherguy
First I have to say that's a pretty impressive packaging job. I can imagine how much work went into getting everything to fit.
I'm curious how you plan on addressing R40 though. "The PDP and all circuit breakers must be easily visible for inspection" Do you plan on having to disassemble your robot as part of the inspection process? The reason I ask, our PD board is "easily" visible if you remove our bumpers and crouch down with a flashlight, I'm dreading the inspection that finds my PD boards visibility not "easy" enough. There are few highly visible places to put it on a robot that's got to fit under the low bar. I imagine this is a challenge most teams building a short bot have had to address. Since it seems yyou've built this kind of box in the past, what's been your experience with inspection? |
23-02-2016 10:23
Hgree56
Re: pic: Epsilon Delta v17.0 Control System
Looks a lot like our Electrical Box 1.0 in 2013 and Electrical Box 2.0 in our 2014 robot.
This is our one from 2013: http://www.chiefdelphi.com/forums/sh...d.php?t=113610
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