2012 GATEWAY Team 8176 Robot Reveal
Team: 8176, Nanjing JinLing High School
Robot is capable of scoring 4 objects in maximum less than two second and scoring high, middle and low goal with no obstacle. Robot could score 23 points in driver skill challenge. Besides, a 28-points-strategy has worked out and workable. Chassis is powered by four 269-motors and accelerated by 15:12 drive-train, which makes chassis straight move speed very fast. A four 393-motors arm, geared at 1:7, could lift to top goal position (more than 76cm) from bottom within 2 seconds. “Roller in-taker”, which is constituted by eight intake rollers, can take objects in a row less than 500 milliseconds each. This smashing performance makes the most efficient robot in China national qualifying match, and the second-best robot in College competition (if we could participate).
Qualifying match video (our alliance mate was absent, therefore we have to face two adversaries. final score was 19:23, red alliance wins.)
Ability of scoring all goals.
Capacity of 4 objects.
Fast six-bar arm.
Chassis: four 269-motor drive-train, rate at 15:12 using high-strength chain.
Arm: four 393-motor @ normal speed, rate at 1:7 (12:36:12:84, motor mounted at 12-tooth gears). Old 84-tooth and 36-tooth gears are one-side-sanded and spliced together that makes the force transmission more stable than using one piece only. Using six-bar linkage (inspired by AURA’s robot @ VRC 2011 World Championship (Round-up)[LINK]). Two slotted angles used for coordinating two sides. Elastics, mounted at the rear of arm, are used for providing extra force to pull the arm up when lifting from bottom and NOT pulling arm down when lifted. It is highly recommended for mounting two elastics each side. Generally, elastics would not rupture in this circumstance.
Roller in-taker: inspired by Team 3018’s robot in VRC 2010-2011 (round-up). Eight intake rollers are placed on four sides and two rollers each. Four bevel gears are used for connecting two sides in order to ensure that rollers on all sides can run at the same speed, which let objects taken smoothly. The object container is made up of aluminum material, thus the container can be very light that results in lower CoG when lifted at high goal position, which could makes the robot more UNLIKELY fall off.
The most peculiar ablity is, any object can be picked up if it has been half an object higher than the goal post (or any ball at any height that allowed to pick out). it can also score the opposite mid goal from isolation zone. (even putting on black barrel when the opposite mid goal is full)
1. Battery holder: a 5x5 C-Channel part cut from 1x5x1x25 C-Channel mounted on Cortex Microcontroller by two pairs of screw and nut, which can hold two batteries in a C-shaped groove that contains two batteries luckily.
2. Anti-Falling Stick: a stick combines with two 1x25 bars connected by several standoffs, nuts and screws that strengthen it. When robot is, unfortunately, falls off, this stick can brace the arm motor tower. Therefore, chassis can move backward and robot would get back to normal position. The stick is mounted at two pivot gussets that mounted at the motor tower beam. When driving normally, this stick would NEVER hinder any action.
1. Six bumper switches are used for choosing autonomous steps. Three steps included in final v3.1 code. 2. Driver control has been coded that five hotkeys are available:
5U: manual arm lift
5D: manual arm drop
6U: roller in-taker takes in
6D: roller in-taker takes out
7U: arm automatically move to high goal position
7L: arm automatically move to mid goal position
7D: arm automatically move to low goal position
7R: arm automatically move to goal picking position
8R: all motor stall
- Latent issue
Chassis 269-motors may halt because of overload protection, however, chassis speed would drop significantly (approximately 20%) if changing motors into 3-wire motors.
Overthrown barrels may stuck when taking in (but there is no problem of letting them out) if they are in a “crossed position”[image] when being picked.
[http://s191.photobucket.com/albums/z13/kongjw_1993/vex/vex%202012%20gateway/?action=view¤t=1.jpg ( objects could not be picked in this position.)
Jinling High school, No.169 Zhongshan Road, Nanjing, Jiangsu, province, China.
Zip code: 210005
MSN: firstname.lastname@example.org / email@example.com](http://s191.photobucket.com/albums/z13/kongjw_1993/vex/vex%202012%20gateway/?action=view¤t=1.jpg ( objects could not be picked in this position.))