Team 834 Presents: Soleonidas VI

Entering our 19th season, all of us at Team 834, SparTechs, would like to introduce Soleonidas VI.

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What are those cable sleeves? They look amazing!

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We order our cable sleeving from Performance PC and we use various sizes depending on the gauge of the wire. For more specific details, DM @CAP1Sup, as he is our main electrical person.

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What is the wood wheel for?

@jack42405 The wooden wheel is to grab balls from the intake. Before, we had issues with a dead zone between the intake and indexer, but the wooden addition bridged the gap.

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Tell me about the flat-spot in your OSB wheel…?

OSB wheel? If you mean wooden wheel that’s just the way it ended up being cut out. Makes it easier to screw the rubber down too.

(oriented strand board) yes, the ‘wooden’ wheel.

thought that maybe you’d come up with a jam-reducer. Might actually help to break a jam if the wheel were to let up then hit it again.

We’ve really anguished over jams. Right now the plan it more power–when there’s a jam, they have a 100% button to push that gives the RS775 more power briefly, but hopefully not long enough to smoke the motor.

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We use a beam break sensor for our balls, which ensures that once that once a ball is intake, it breaks the beam, and the conveyor runs for a set amount of time. This helps to make sure that balls are evenly spaced and jams are much less likely. Furthermore, using a rubber toothed belt, balls are less likely to shift around and more likely to follow an consistent rolling path. All of these factors allow us to have less jams.

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In addition to what Mohammad said, the wheel was designed to be larger in diameter than the pulley it is surrounding to help eliminate a dead spot that was present. The flat spot is actually so that way the wheel is inside the frame perimeter as otherwise it would be out of it

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How does your drivebase work? Is it just a really long geartrain?

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Hi Abhinav,
Yes, our drivetrain is just a very long gear train. We have been using this gear train for many seasons and have implemented multiple iterations. If you have any further questions, feel free to ask.

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What is the purpose of using the long gear train instead of chain&sprockets or belts&pullies? Seems like it would take a lot more weight and would increase the complexity (number of moving parts, more critical points of failure, tighter necessary machining tolerances etc).

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:thinking::thinking::thinking:

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When we first designed this, chain tensioning solutions like the Versablock, WCP CAM Tensioner, etc. were not easily avaliable to the team and we weren’t able to do precise C-C spacing for normal chain/belt drives simply due to lack of macufactuaring abilities. We worked with our mentors to design a solution that didn’t really need tensioning (gears) and it brought us success before in 2017 and before. We saw that this just worked well, we were experienced with it, and decided to continue working with this design and iterate. However, we a few continously experimenting with new drive train designs over the off season with new COTS products avaliable for WCD designs. We cut these plates with a sponsors laser with 1/8th 6061 Aluminum sheet. We haven’t faced any significant drivetrain failures since 2017 to my knowledge. It may be heavy and complex, but it has done us well so far.

Where did you get your mecanum wheels? Did you 3DP them?

Yes, we printed the 125 wheel designs that they released on CD earlier last year. We would like to thank Team 125 for releasing this design to the public, it was very helpful for many teams.