Here’s a pic of our entire 2007 robot so far. We’re still testing a lot of programming and such. But the quick run down is …
- 2 CIM BaneBot 12:1 transmissions on each side
- 2 KOP 6" Wheels in the center, and 4 AM Omni’s in the front and back. #35 chain all around the drive with simple UHMW eccentric tensioners.
- Center section telescopes using 2 globes acting as a winch with nylon straping doing the lifting.
- Single jointed arm powered by two window motors - we tried 1:1 chain drive today and it didn’t work to well and are changing it to 1.6:1. 25 Chain on the arm.
- Grabber is actually two actuators modeled after our 2005 bot. One cylinder pushes out a “bayonet” that helps support the base of the tubes. Another cylinder actuates a grabber to come across the top of the tube. When the “bayonet” is retracted, the tube falls straight down, hopefully on a spider leg.
- There are also two ramps not shown in this pic. They can pick up two 150 lb robots using a kickstand device powered by FP/BaneBot motors.
- There is a mount for a camera which is behind the telescoping section. We still need to program and test this.
- We have 63k64 encoders on each drive transmission and a 61k128 encoder on our telescoping section. We also are using a standard Potentiometer on our arm.
- We are using PID on the telescoping section and a smoothing algorithm for driving to lessen damage to the 54mm BanBots.
The robot as shown in this pic weighs in at 94 lbs.
