)Got some pictures of my teams robot posted up here at chiefdelphi, here are some links:
The chassis: http://www.chiefdelphi.com/forums/pictures.php?s=&action=single&picid=3861&direction=DESC&sort=date&perrow=20&trows=10&quiet=verbose
The arm: http://www.chiefdelphi.com/forums/pictures.php?s=&action=single&picid=3862&direction=DESC&sort=date&perrow=20&trows=10&quiet=verbose
The arm from the other end: http://www.chiefdelphi.com/forums/pictures.php?s=&action=single&picid=3863&direction=DESC&sort=date&perrow=20&trows=10&quiet=verbose
And the great people who made it happen, or not ;): http://www.chiefdelphi.com/forums/pictures.php?s=&action=single&picid=3864&direction=DESC&sort=date&perrow=20&trows=10&quiet=verbose
I think i said i would post exact specson the arm, so here it goes ^_^.
Joint 0(at the robot base):
Driven by: A fischer price, geared down twice for an 8 to 1 ratio i believe. 12.5 or around that rpm a minute
90 degree rotation: 1.2 seconds at full blast(theoretically, we’ve never actually driven it full speed.) In otherwords VERY FAST.
strength: 9 feet: about 15 pounds, so thats the arm and a box
7 feet: about 30 pounds, a small stack of boxes.
5 feet: 60-70 pounds, the biggest stack you can get.
2 feet or less: 100-200 pounds, or a robot.
Joint 1(in the middle):
Driven by: a fischer price, geared down once for a 6 to 1 ratio i believe.
90 degree rotation: 0.9 seconds. Its hard to test the actuall speed of this joint becasue we’re afraid of it ripping itself apart. The programming still needs some work. Also the ceiling has been causing us some problems.
5 feet: 50-55 pounds, a 8-9 high stack
1 foot: way too much, or your robot
Joint 2(the grabber):
driven by: A globe geared down 5 to 1.
90 degree rotation: is around 0.8 seconds Its faster than the other two, and just as they were really fast, this one is too.
1 foot: 40-50 pounds. This motor has to hold the whole weight of a stack. If it fails to hold it then it will backdrive so it limits the height of our stacks to 8 high.
The grabber is penumatic controlled and can grab boxes in any orientation. We can really only deal with ones that are rightside up, upside down, or on one of the two smaller ends. Then we can grab them and stack them upright pretty quickly.
I mentioned it autolevels and so forth. All i have to say is, RAGE watch out ^_^!
The rest of the robot isn’t bad either. We’re pretty nimble with our two speed vector drive. It only has two powered wheels unfortunatly but those are powered by the bosch. Also we can throw most of our weight onto them by positioning the arm so we should have pretty good traction to push other bots around. We can of course drive in any direction or do neat little arcs to maneuver around boxes to get them in the correct orientation quickly for our arm. I don’t think traction will be a problem. We’re using the pneumatic wheels from skyway. Absolute beasts on the mesh, the carpet and the HDPE.
We’ve got that cavity in the middle to protect boxes. We just drive around a stack to protect it. I bet we’re the only team to stack, limbo and have room for boxes inside us. Its been suuuuuuch a pain to fit everything in. (we’ve used all but 3 motors, and two of those will probably make it if weight allows, and pneumatics :))
Lastly we can limbo by laying the arm down although its pretty tight ;). Hopefully it really will be the hieght they said it would be and not the height they said it could be. (if not i guess the tires could lose a bit of air :D)
I can’t think of anything else you might want to know, but i’ll tell you if you ask.