Well, I’m done with this CAD run-through. I won’t have computer access for a week, so I’ll call it done. Intake is unfinished, but it’s close enough.
It would be more polished if I had more time, but I’m calling it good. This game is hard.
I think I would redo the intake and try to shave half the weight off so I can put it into the ballast, but I think I would wait for OA team prototyping.
I think I also have a lot of play w/ the elevator angle to get one that is optimized, though, to be honest, I’m just out of time.
Launched L1 Scoring (needs to be improved this is meh)
Algae Removal
Continuous Ground Pickup from all orientations
Source pickup (???)
Some of the most cursed pocketing known to man
Skipped:
Climbing
Processor Scoring
Algae Shooting
L4
Weight Specs
end effector weight: 4.371 lbs
elevator weight: 18.249 lbs
indexer weight: 10.233 lbs
dt weight: 54 lbs
intake weight: 23 lbs (rushed and incomplete)
someone good at design plz help me budget my weight my robot is dying
On intake:
Intake was pretty much rushed and done late since I ended up pivoting intake designs really late. Most of the weight comes from the flex wheels/shafts right now, but I think I could probably do a redesign that’s half the weight.
That being said, the reason for the size was to see if I could get vertical pipes by just intaking at a really safe angle. It’s pretty much just roughed out right now.
CG Specs
7 Inches high when stowed
10 Inches when Extended
11.73 Inches when Counter Balanced (?)
Strategy
Auto: Remove 1 Algae and place corral l3 auto w/ hp dropping pieces on ground
Start of match: Remove 2 Algae in visible locations, hp starts flooding field w/ corral
After: Cycle corral - repeat till match ends
@howlongismyname How would you improve this intake if you had more time? I’m thinking of designing an intake similar to this where reorienting the coral into a scoring position is done within the intake like in this.
Current improvements I’m thinking of are using a NEO 550 instead of the kraken to spin the rollers and using fewer long standoffs to support the plates.
Main issue here was the weight, so I figured a 550 would work just fine to drive the wheels on the intake. Unless I’m missing some controllability/reliability issue, it looks like I’d save a little over half a pound with an ultraplanetary.
The Kraken x60 and x44 are 1.2lbs and 0.75lbs respectively as per WCP. Running an entire unprotected intake off of 1 NEO 550 is not a good idea, no matter the gearing.
By the time you reach a reduction enough to spin all the wheels and over power any binding that may come with an OTB intake, you lose any meaningful free speed.
Search around CD and you’ll see how often people smoke the wires on the 550.
Stock and use all the same motors, standardize. There’s a reason top teams like Spectrum use only 1 type of CIM-class motor.
REV team? Buy another Fullsize or Vortex and run it off of the same SPARK MAX or other applicable motor controller. WCP team? Kraken x60.
Probably replacing the whole thing and doing something w/ less intake range, (not all orientations, smaller than full width), less efficient intaking but significantly lighter
i would stay with 1 kraken and i wouldn’t complain about doing 2 krakens powering the rollers.
The weight issue isn’t coming from the kraken, its mostly from the rollers
Ya it’s generally safer to add extra power then to under power and regret it from a design perspective. 3 cim class motors on shooter, 2 motors on intake, ect much harder to regret it
Is there a way to download the CAD file, I 3d print mini robots for fun and was wondering if this is something you’d grant the ability to do? If you are looking to prevent other teams from using your design I just need an STL file, which I wouldn’t be able to edit
Right now the intake is 23lbs, which is quite a bit of weight. @howlongismyname also said that his intake design was rushed, so I wanted to see what he had in mind for improvements if he had more time to play with.
