Teams 9605A and 9421X/V are proud to present our first Robot in 3 Days robot: Houdini.
-4m 3.25" 3:5 200rpm Drive
-1m 200rpm Side Rollers
-1m 1:7 100rpm DR4B
-1m 100rpm Cube Tube
-1m 1:15 100rpm 4-Bar
This was a very ambitious robot for 3 day, and it was a lot of fun to make. Although it does work a lot better than originally anticipated, there are some aspects of it that would need further tuning to be more competitive. Here is a brief overview of each subsystem:
This drive is fantastic. It is super fast, which we think if driven well could be very useful for this game. Sometimes speed aids in playing defense as much as torque. For example, the fast drive allows you to drive around the field and knock over all the cubes at the beginning of the match.
This Ri3D was the first time that any of its members have attempted an inverted DR4B, and as anything in engineering, V1 is never the best. All the joints had good build quality, but the tower twisted a bit due to lack of support. Diagonal bracing would have helped a lot. We chose the inverted DR4B because of how thin the 4-bar that it mounts on is.
As far as we know, we are the first team to attempt 1 motor side rollers like this. Uncharted (25461Z) territory like this is never easy. The difficult part was figuring out how to transmit power from one side to the other. We decided upon having a chain about 1/8" off the ground a tray for the cube above it. The side rollers are a bit lack luster. They sometimes struggle to get the cube in the correct position in the tray. It would be better if they deployed the other way around the axis, but there were other limitations to that that we were unable to solve. We spent the majority of the time figuring our the lift and 4 bar, and 3 days is not much time for such an ambitious robot.
We originally intended to do a 2 stage, deployable cube tube that would allow us to carry around 6 cubes. Unfortunately we ran out of time, and this never left the prototype phase. More information and pictures of that will come in the documentary. Personally, my favorite part of this whole robot are the passive intake hinges that grip the cube when the lift pushes down on it. These are almost 100% reliable, and I think are even good enough for a competition robot. There will be a close up on them in the documentary. For powering the cube tube, we ran out of 36t gears, so we were forced to do a standoff linkage, which was not that fantastic, but it worked.
4 Bar Lift Mover
Ah yes, the subsystem you’ve been waiting for. I think that at some point in time we’ve all thought “why not just move the whole lift?” Well, we did it. And it actually turned out pretty well. It is a pretty versatile solution to delivering your stack to the scoring zone. We didn’t show it in the reveal because we didn’t have any footage of it, but the robot’s geometries allow it to score the stack deep into the corner of the large scoring zone. It was also necessary for us to move the whole lift when scoring towers. This was the part of the robot that we thought would be the most unique, so we hope you all like it.
One of the main goals of this Robot in 3 Days was to be unique. That said, we certainly did not want to do just another tube bot, despite how simple it is. The end result was indeed an incredibly unique robot, and it actually works a lot better than any of us ever anticipated.
Have fun debating whether this is insane or a potentially clever solution to Tower Takeover