Me and my team were trying to build a Clawbot (with 3141Z’s design) but we couldn’t find a way to not exceed the 18" limit. We had to make our chassis (not complete yet) out of 35 hole C channels to cram 6 motors so it reaches the limit by itself :D. The claw won’t take the MOGO unless it’s close to the ground but wheels prevent that. Any Ideas?
Edit: Drive is 4" 6m 84:60 with 200rpm cartridges. We don’t have 600rpm or 3.25" wheels.
Can you “hinge” the claw so it starts the match “Upright” but then when the match starts it folds / drops down to allow it to work. Gravity with a forward lurch with rubber bands can do some amazing things.
Remember the bot only needs to be 18x18x18 at the start of the match.
Allow the claw to bend back so that it can fit in speck. RIght now it looks life your arms on the claw are being kept parallel and this stops the claw from forming a reflex angle.
I forgot to add but the arms can already fold backwards. Unfortunately the chassis is almost 18" so the c channel and 84t gears are enough to get it over the limit.
Then move the claw back?
or make the chassis shorter
Are those 84 tooth gears for the drivetrain? Many teams are using 60 which could shave quite a bit of length.
That’s what we’re thinking rn but that means giving up on the 6m drive which I don’t want.
why?
just make all the gears one size smaller
If there are five 60 t gears on your drivetrain then there are five spots where you can place motors. Also motors can be flipped in different orientations to take advantage of space.
60t:36t or smaller doesn’t work on 4" wheels (as seen in image below shaft collides with the wheel) and we couldn’t afford buying 3.25" wheels or 600rpm motor cartridges.
Try shortening your drive, probably the best thing you can do. Or just redesign your claw
You could just raise one of your motors and then shorten the distance between the wheels
How far out of the 18 inches are you when the claw is as far back as it can be? Just like what Ryan918, and Hudsonville_Robotics mentioned moving one of your motors and gear in the 6-Motor drive up a little bit could save you lots of room. Here is an example of what we tried.
there are plenty of ways to do 6m drive you don’t have to be dead-set about whatever you have right now also consider idler gears. if you dont have pneumatics why go 6m drive? your sacrificing a LOT with your design you cant hold 2 mogos or do rings.
also that’s a super mega clamp but to my knowledge it doesn’t lock and locking is pretty important and would probably help u steal from others better.
You could try to make one these, so at the beginning of the match your claw folds out
It’s based on 3141Bs design:
Also why don’t you just make the traditional meta clamp?
Our entire claw is mounted at an angle, so when it folds out it lowers to ground level.
