The world championships are less than a month away and many of you are probably wondering what the teams in Singapore are up to (Singapore is NOT part of China) =). Here’s the robot that we will be bringing to worlds, with some minor modifications not reflected here.
Specs:
6 Motor Drive - (4 X 393, 2 X 269) Chained 3:1 on small omnis
2 Motor Lift - (2 X 269) Geared 1:5 on a double four-bar system
2 Motor Intake - (2 X 269)
The robot can lift 6 barrels/balls to >30" in ~1 second. =)
Can score 42 points for robot skills.
Has 12 different autonomous routines.
Pneumatic fold up wheels to score into the middle 30" goal from isolation.
Wow that robot looks amazing. You managed to power the lift with only 2 269s at 5:1!? I think that’s the first time I’ve seen that done successfully this year. Do you ever have overheating problems with them when you are lifting a full load? Nice skills score.
Edit: the photos work if you right click and open in a new tab.
Also, what are the pneumatics for?
He said that the drive was on small omni wheels (opposed to 4 inch), so it isn’t as crazy fast as you think. Also I (and banditofernando) just figured out what the pistons are for :D. Very cool.
3:1 on SMALL Omni, not 4" omni like every assumes when people do not mention what wheel size. 3:1 on small omni with 6 motors should be ok for a light robot, with the advantage of faster acceleration due to less wheel mass.
I wish the pictures worked, since I’d like to see the double 4 bar.
Questions:
Does the double 4 bar do a linear lift?
How much does the robot weigh?
Probably well balanced elastic on the double 4 bar, to get those lift speeds.
Any power expander?
What is your motor port assignment?
Do you have slew rate control on motors, or any other fancy programming?
42 points in Robot skills; Thats the number 1 rank, right?
Love the way that you used pneumatics, it’s a very clever solution. I’m very interested in how the lift…lifts. From a basic point of view, you are running a relatively fast (1:5 instead of typical 1:7) ratio with half the motors, but the same load. Does it have something to do with how the load is placed closer to the point of rotation?
So what are the pneumatics used for? I can’t see any pistons.
How many pistons and tanks do you have? Are the pistons double or single acting?
edit: Could they be for the front wheels? Do they fold down? What is the reason behind that? Is it for stability? or to score in the center 30" goal from the Isolation Zones? Or both?
42 in drivers? NICE! 