62 early season reveal

  1. 8 months ago

    Cameron Schiller

    15 Oct 2017 Los Angeles, California 62
    Edited 8 months ago by Cameron Schiller

    *62 has now changed to 62a*

    The goal of this robot was to create a very low lift mass/load ratio, as well as hopefully convert some people from the overbuilt, unneeded lift capacities of a rd4b.

    Specs:

    • 1 Piston "pad roller" intake (as seen on ri3d)
    • 4 motor 4" HS drive
    • 2 motor 4 bar mobile goal intake
    • 3 motor "Schlucas" arm

    2 motors 1:7 HS stage 1 arm (Quadrienture encoder controlled)
    1 motor 1:5 HT stage 2 arm (potentiometer controlled)
    12 cone capability

    Feedback after first competition*
    Pros:

    • super light (≈8lbs with no battery), resulting in a super fast and nimble drive.
    • Mobile goal intake worked amazingly
    • Lift worked very well

    Cons:

    • intake could use some more work
    • the lift was only run at 60% speed due to lack of tuning time

    The main takeaway was that the lift worked very well, even despite our main concern of the rotational torque applied by the cone causing the position to be off. However, we found the arm to be much stronger than previously thought. This is a fairly simple robot to build, however, it does take some programming skill. If you know how to program using PID and your considering a rd4b, maybe try this instead :)

  2. rbenasutti

    15 Oct 2017 Worcester, MA WPI1

    Do you have any video of the arm stacking cones? I am wondering how stable the IK is just using feedback control.

  3. M8R

    15 Oct 2017 Los Angeles, California 7700S/R

    tfw no chain

    tfw robot is held together with zipties

    tfw it beats yours

    rip

  4. SamuelC (7842D)

    15 Oct 2017 Comox Valley, BC 7842D
    Edited 8 months ago by SamuelC (7842D)

    Oh wow that looks amazing.
    I kinda want to do something similar now assuming I could get it to stack reliably enough.
    I really want to see a video though.

    Edit:
    After seeing some videos of it, I think that I would rather stay with something that I know will have a good scoring rate. Not sure I could match my current rate if I went with that design.

  5. Dokkaebi

    15 Oct 2017 Deal with it I like chocolate

    Dang that arm looks really hard to control. What is your average cycling time? (Time between grabbing cone and having gripper back to original position)

  6. Well done yesterday, saw the live stream. I could definitely tell you automated the internal stacking with PID. :)

  7. aaronlucas

    15 Oct 2017 california

    Here is the link to the stream:
    link text

    Elimination matches played were:

    QF1-1 ~100 W
    SF1-2 ~ 107 W
    F1 ~ 80 L
    F3 ~ 100 W

  8. SamuelC (7842D)

    15 Oct 2017 Comox Valley, BC 7842D

    @aaronlucas Here is the link to the stream:
    link text

    Elimination matches played were:

    QF1-1 ~100 W
    SF1-2 ~ 107 W
    F1 ~ 80 L
    F3 ~ 100 W

    Is there any way to skip around through that stream or do I just have to wait for the matches to come up?

  9. aaronlucas

    15 Oct 2017 california

    @SamuelC (7842D) Is there any way to skip around through that stream or do I just have to wait for the matches to come up?

    I was skipping around on mobile, not sure about desktop.

  10. Deleted 8 months ago by Karthik
  11. meng

    16 Oct 2017 Singapore 8059

    @aaronlucas I was skipping around on mobile, not sure about desktop.

    I can't see the control for the vid too actually.

    But from what I can see - looks real good! I like it (more than my own internal stackers. lol)... and i can see lots of potential in this approach.

  12. aaronlucas

    16 Oct 2017 california
    Edited 8 months ago by aaronlucas

    Here is a YouTube upload of the stream (thanks Jordan):
    link text

  13. Deleted 8 months ago by puzzler7
  14. puzzler7

    16 Oct 2017 Peoria, Arizona 8452A

    I couldn't quite tell from the video; how did you keep the cone at the same orientation? Did you just grab it loosely at two points and have gravity reorient it?

  15. Edited 8 months ago by Ashwin Gupta

    @puzzler7 I couldn't quite tell from the video; how did you keep the cone at the same orientation? Did you just grab it loosely at two points and have gravity reorient it?

    He seems to have used the gravity based cone straightening mechanism he showed in the RI3D video (not the reveal).

    try 8 minutes 19 seconds. I'm guessing its this but have Cameron confirm.

  16. @Cameron Schiller The main takeaway was that the lift worked very well, even despite our main concern of the rotational torque applied by the cone causing the position to be off. However, we found the arm to be much stronger than previously thought. This is a fairly simple robot to build, however, it does take some programming skill. If you know how to program using PID and your considering a rd4b, maybe try this instead :)

    It is a nice foray into a lightweight designs territory, and definitely shows you don't need 12+ c-channels and 10+ gears to move 0.26 lbs cone. And, if your algorithm changes PID behavior depending on the stack height, that is a great exercise, regardless of the final performance!

    - intake could use some more work

    Lack of hardware ground reference for the intake definitely made a difference - it could have been much more successful if there was one. You just cannot spend so much time waiting for the cone to settle.

    If I was building similar robot I would include ground reference for stable intake and, probably, try to make forearm shorter and faster, while the upper arm longer (you could fit almost 29" beam in a cube).

    Everybody, please, follow Cameron's example and build lighter robots! I am sure we could achieve sub 1 sec cycle time on the cones:

  17. aaronlucas

    16 Oct 2017 california

    @Ashwin Gupta He seems to have used the gravity based cone straightening mechanism he showed in the RI3D video (not the reveal).

    try 8 minutes 19 seconds. I'm guessing its this but have Cameron confirm.

    @Cameron Schiller
    Specs:
    - 1 Piston "pad roller" intake (as seen on ri3d)

    Confirmed.

  18. Edited 8 months ago by Ashwin Gupta

    @aaronlucas try 8 minutes 19 seconds. I'm guessing its this but have Cameron confirm.

    lol woop reading fail. Thanks.

  19. blatwell

    16 Oct 2017 Event Partner Indianapolis 621A

    Very nice. My son's team has something similar with a double chain bar. He really likes what you did here, though.

  20. AlohazZ

    16 Oct 2017 Hawaii 8050

    Could this robot be ran with just a 2 motor lift? one on the first stage and one on the second. so you can make a 6 motor drive so you can be a pretty good stacker and a really good robot for mobile goals as you can fill almost any position in the "in the zone meta strategy". With the two extra motors I would make the motors run 2:3 gear ratio. I think this could obliterate at competitions as it fits almost all the criteria that are in the meta (in hawaii at least).

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