Here be Team 48 Delphi E.L.I.T.E.'s 2011 robot, xtremachen14. This will not be the only instance of this robot you see traipsing around Logo Motion fields this year.
Video from the North Carolina Regional:
I am very happy to say we were able to craft a practice bot this year - one I feel is of good quality to keep as a training aid/demonstration robot after the season. It is waiting to receive the fully-detachable upper arm, forearm, and claw and will shortly permit extensive practice and programming additions. The benefits of a practice robot far outweigh the costs and effort needed to create one.
Some info:
-6WD flat drivetrain - four custom 4" diameter, 1.5" wide aluminum traction wheels in the back, two 4" omnis up front.
-AM Super Shifters with custom 25:40 final gearset for a little extra speed.
Four-bar arm (Thanks, Adam!) with pneumatic extension to load from floor - this is the only time we need to extend, but can do if necessary when scoring up high - robot is very stable. JVN-brand passive assistance along the diagonal of the linkage makes this 18.4 lb. arm move quite effortlessly. RS-550 with 104:1 Banebots P60 and a 4:1 chain reduction. That is a 3"x3", 1/8" wall aluminum box tube mast, if anyone’s wondering.
Roller claw (Thanks, Adam, JVN, and anyone else who had one of these in 2007!) Upper and lower jaws contain RS-540’s with 26:1 Banebots P60’s chain-driving front rollers. Added twist of a pneumatic open/close feature, which we’ve already found handy in a few situations.
Overall, I’m very happy with what we produced this year.
Travis - great looking bot, as you will see in Pitt ours is quite similar… we used bane bots on the arm, window motors on the rollers and deployment and quad cims for the two speed drivetrain…and a cylinder to extend the arm. Looking forward to seeing you guys!
What is your starting configuration? I’m pretty sure the claw has to be inside the bumpers, and it looks like it sticks out a bit. Sticking it straight up should work.
The arm fits easily inside the robot’s starting configuration. At the time of the picture’s taking, the arm settled in that position, it’s weight balanced by the upward force placed on it by the passive assist surgical tubing bands. We have been tweaking the tension in those bands to force them to stretch more to provide an equivalent buoyancy, meaning the arm will rest closer to the home position. At that point, any little “float” to the arm can be cancelled out by a little velcro holding it in place until the match starts, and power is applied.
What transmission is driving that arm? Is it a Banebot? Did you guys have any trouble with it? I love the linkage though, and a great integration of a passive system to lighten the load on the whole system.
48’s competition robot arm is powered by a Banebots RS-550 motor mated to a Banebots 104:1 P60 planetary. We cap the max voltage to the arm at 40%-50%.
The arm design borrows from concepts used by 67 (2007 linkage) and promoted by 148 (passive surgical tubing resistance).
We have had zero trouble with P60’s in any application since they came out in 2009.
Thanks, Stogi. It is not a drop center. From what I observed at competition, the omnis did not hamper us in holding our position, pushing through defense, etc.
