I have a goofy style complex tray, and I have 3 stages with a 4th telescopic stage. My robot can intake 11 cubes, but the tilter struggles when I try to place the cubes. I have a 7:1 gear ratio and a 100 RPM motor. The tilter will stall and not move. I have looked at the physics of the Tilter thread, but I am still confused. I currently do not have any pictures, but the cad shows how my tilter is currently attached.
How are some other teams able to achieve large stacks without having their tilter stall?
more torque
and probably some clever rubber banding
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How do you increase the torque? Would I have to do some compound gearing?
yeah. Full disclaimer , I donât have a tilter and know pretty much nothing about them, but Iâd suggest 1:3 -> 1:5 (1:15 total)
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on the extreme end, you could do 1:35
Source: use 1:35 for my 13 stacker
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1:15 could get you what you need. Another option would be to rubber band the tray so it counteracts the weight of the cubes
you can just use better tilter geometry instead of making the gear ratio more torquey.
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The ratio is a 5:1 into a 7:1. The 12 tooth gear for the 7:1 ratio shares the same axle as the 60 tooth gear
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maybe try to redesign the lever arm (bar connecting to the big gear) so that it is shorter. If you think about it, th weight of the cubes are pushing on that lever, and the torque applied is equal to rFsin(theta), where F is the effectively the âweightâ of the cubes (simplification), r is length of the arm, and theta is the angle between the arm and the force vector, so if you can change either the angle at which your bars sit, or shorten the length of the arm you will probably get better results. One of our teams uses a bar that is barely longer than the radius of the big gear.
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How would you do that? Would you do something like what is in this thread
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yeah, something similar to the first image someone posted there. Important tips though, is to decrease the pushing arm length, and when the tray is at 90 degrees, both the crank and connecting bar should be at 45 degrees relative to the ground, so that the torque applied to the motor by the weight of the cubes is 0. This means that the tray is effectively âstrongâ at that point, and as the arm pushes the tray, it should in theory get easier to do so.
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put 2 zipties between each driveshaft so they get pulled together it will help a lot
or use the thicc axles. Also, use this if you want to see the torque and whatnot of your tray:
these are some random numbers I chose that are similar to what I was talking about before,
Tray Calculator
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Try to maximize leverage by changing the angle at which the gear bar meets the bar meeting the tray. Ours is at a 45 degree angle, and it changes the form as it goes. We can stack 13 with this (double tray)
I use 1-21 with meh geometry to stack 11
Based on your configuration, I have tried to model it in the new TrayCalc and yeah, it is bound to stall badly. Try this link ans update my guesswork from your image to the real setup.
Remember, with 100RPM cartridge and 1:7 gearbox, you have at most 14Nm to work with. Our optimized 12 cube tray needs only 7Nm to score.
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So today I compounded the tilter with a 1:7 and another 1:7, I am not sure what the total gear ratio would be, but I will test that on friday!! Hopefully that will work!
Thatâs 1:49 (7 x 7) also known as way overkill and way too slow.
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oops! ok I probably will tone that down, to a 1:25 then