I cant believe it took a good 10 minutes to find the new thread button…
But anyways, I was just wondering what that red ribbon on 1114’s climber was for. I thought that it was used to pull the arm in, but I may be wrong. And if it is used to pull the arm back, how does that work?
I have no detailed knowledge, but just based on the speed of climbing, I’m guessing the red strap was wrapped around a pulley that was driven by a power takeoff connected to their drivetrain. So they were using the full power of their drivetrain to lift the robot.
http://www.simbotics.org/first/2013
No PTO. Strap is used to retract the arm.
This video gives an in-depth look into their design. Check it out!
http://www.youtube.com/watch?v=CIBaWdIZX7k
matt
1114s climber was powered by a gearbox using 2 cims and 2 mini cims i believe
Their arm is extended with springs (or surgical tubing I can’t remember exactly how) and then it is pulled back with a ratchet strap (that’s probably the “ribbon” you saw) that is driven off of two CIMs and two Mini-CIMs (not their drive train).
Thanks for those links, they helped a lot.
So it is used to retract the arm. That’s cool.
Constant force springs extend the climber, winch powered by 2 cims and 2 minicims retract the climber via the red straps.
I have confirmed they use constant force springs to extend it. I just dont understand how, none the less. Well this link will really help there are some great close ups if you were wondering. https://www.dropbox.com/sh/3fxabc28nvvkcr8/A2tQie9tgK
When a mechanism is run with a winch and pulley + some springs, the “pull” motion is simple - winch winds rope in, mechanism comes with it. To extend, you just run the pulley in reverse. The springs take up the slack in the rope and extend the mechanism.
does the shaft at the rear of there robot serve as part of a function or is it a structural component?
Outer attachment point for their hanger. Slide it out, hanger comes out.
That’s quite elegant, do you know what they use to pivot the arm up and down?
I think that could be the bottom connection point for their climber.
It looks to me that it’s the shaft the climber is mounted to and pivots on.
They use a piston to move it up and down.
This is a little unrelated, but does anybody have a good, high quality video of 1114 climbing?
Go to about 1:20. It’s also in 1080p, but it doesn’t show the dump.