5413 Stellar Robotics 2020: Andromeda

FIRST Robot Showcase
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Stellar Robotics is proud to present our 2020 robot: Andromeda!

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20200222_105224_Edited3024Ă—2496 1.72 MB

Capabilities:

  • Driving under the trench
  • High goal (inner/outer port) shooting (from the trench run)
  • Turret and infinitely adjustable shooter hood for aiming
  • Intake 3 balls simultaneously
  • Hold 5 balls without jamming

SPECS:
Drivetrain:

  • 6WD
  • 4 NEO Motors
  • 18fps high gear, 6fps low gear
  • 3D printed 4in wheels with blue nitrile roughtop tread

Intake:

  • 2 bare aluminum rollers
  • 5:1 775pro
  • Pneumatic linear extend and retract (for packaging)

Hopper:

  • “Powered V” design
  • Each side powered by 1 775pro @ 15:1
  • Doubled-up 15mm HTD belts

Feeder:

  • 2 opposing bare aluminum rollers
  • Geared to run opposite directions for perfect vertical feed
  • NEO 550 (15:1?? can’t remember) w/ closed-loop speed control

Shooter:

  • 2 4in colson wheels
  • 3.5in of compression (not a typo)
  • 2 NEOs geared UP 3:1
  • Bang-bang speed control for fast cycle-up times
  • Extra mass added to the shaft to increase MOI

Climber:

  • Powered by the drivetrain through a PTO
  • Positioner (BAG Motor geared 25:1) to get the climber in position while the drivetrain is used
  • “Hook” is a powered wheel (BAG Motor geared 25:1) to move sideways on the bar
  • Secondary rigid hooks for hanging in the center of the bar (not pictured)

Control Panel:

  • Climber wheel doubles as a control panel manipulator (untested)

This is just a soft reveal for now because we didn’t have time to finish the reveal/showcase video before MVR. In the meantime, here are some phone videos of practice and testing:

6-Ball Auto (no goal to shoot at) - https://youtu.be/7Re1rlMcnsM
Climb - https://youtu.be/gl7wjT9jUvY
Practice (long clip) - https://youtu.be/l7UGWwpI_78
Practice (short clip) - https://youtu.be/7jyVnngjP2k

16 Likes
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What did you 3d print your wheels with? (printer/material)
Also love the #translatorclimbgang

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That is one clean robot design. Love the packaging, and that climb is excellent.

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Looks great can’t wait to see it on the field

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This is a fiersome and beautiful machine. How well does it handle driving through the middle of the field?

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Ender 3, PLA. Fair warning, we’re still trying to get them robust enough to handle the bumps at high speed.

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:grimacing:

is there a specific reason why you chose to 3dp the wheels?

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There is no commercial option for 4in hex bore wheels that allow mounting of roughtop (or wedgetop) tread. The Andymark performance wheels do, but we didn’t want to spend the money or weight for that. Plus they’re wider than we wanted.

The 3D printed design is extremely space efficient. The drive pulleys are integrated into the wheel.

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West Coast products has 4 inch wheels for mounting tread.

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Those are essentially the same as the Andymark ones. Too wide for our purposes.

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That’s a dead axle wheel. We need a hex bore for a live axle.

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Do you have a photo of the wheels? Super interested

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Here is a picture of prototype 3in and 4in wheels.

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20200105_2232064032Ă—3024 3.65 MB

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Will you be releasing this model?? Cause that would be awesome!!

I for one am really interested to see how these hold up in competition.

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I’m a fan of this design pathway. Working on something similar for some small RocketCat combat robots.

IMG_6847
IMG_68474032Ă—3024 1.38 MB

-Nick

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You guys try using a different material like petg or abs. Seems like you may want something less brittle and more ductile so it can take a hit from the bumps better.

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Looks like you have a stellar robot this year.

3 Likes
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evenbetteryet nylon. or onyx. or evenbetteryet alumnium

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I like the robot name.