Articles by tag: design

Articles by tag: design

    Ninja Flex Intake V2

    Ninja Flex Intake V2 By Jose, BenB, Karina, Evan, Abhi, Ethan, Charlotte, and Aaron

    Task: Design, implement, and test a newer version of the ninja flex intake

    The new ninja flex intake is good, but it has room for improvement. One issue is that it is too big and minerals have some problems entering the intake tray, Another issue is that the spacing of intake gears is too much and cuases minerals to be intaked slower....

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    Machining Gears for Superman

    Machining Gears for Superman By Ethan and Justin

    Task: Machine replacement gears for Superman

    Shortly after creating the new Tetrix gear system, we got a response from one of the CNC shops we'd reached out to, offering to machine the 15 and 125-tooth REV gears from the STEP files. So, we took the Superman system off of our old robot, BigWheel, and sent some of the broken 15-tooth gears from UIL.

    In response, the...

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    Intake Update

    Intake Update By Ethan

    Task: Custom design an intake to improve intake times

    In testing, we found that the intake didn't perform adequately - the balls would slide back out in the inverse articulations. So, we designed attachments for the corn-cob intake out of ninjaflex, figuring that small tabs would hold the minerals in better. It failed - they were too compliant - but we found it was much easier to intake minerals than before due to...

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    New Superman Arm

    New Superman Arm By Ethan and Evan

    Task: Redesign the Superman arm to be more robust for Worlds

    In posts E-116, we found that we were putting pressure on the individual teeth of the Superman gears on the order of mPa. We designed gearkeepers to ensure that the gears would interlock and reduce pressure, and these worked for awhile. However, under tournament pressures at UIL, the teeth on the smaller gears broke entirely - between the teeth...

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    UIL 2019 Postmortem

    UIL 2019 Postmortem By Ethan, Charlotte, Evan, Janavi, Beno, Benb, Bhanaviya, Abhi, Arjun, Jose, Aaron, Paul, Cooper, and Justin

    Task: Reflect on what we did correctly and incorrectly at UIL

    Pit & Packing & Roles

    • Pack more robot parts - didn't have enough to repair Superman arm
    • Pack more tools - needed soldering iron to repair voltmeter
    • Better organizational system - we couldn't find tools easily
    • Need handouts - see tokens post
    • Need team visibility - get shirts for freshmen,...
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    Intake Flappers

    Intake Flappers By Jose, Evan, and Abhi

    Task: Design and test intake flappers to speed up mineral intake

    Due to our new intake articulation involving the superman wheel the ice cube tray intake is slightly too elevated to intake minerals. To fix this we designed small flappers out of ninja flex(the Iron Reign way) to help the intake reach further. Tests prove this intake to be quicker than the ice cube tray alone and it should...

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    Wiring Icarus

    Wiring Icarus By Jose, Abhi, Evan, and Aaron

    Task: Wire Icarus to be functional and move utilizing code

    With the construction of Icarus nearing completion we need to start connecting wires from the motors and servos to the REV Expansion Hubs before it becomes impossible to do so.

    • As soon as the expansion hub were placed on the chassis, servo wire extenders were connected before anything blocked us from doing so
    • We used custom sized wires to avoid a mess...
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    Icarus' Arms

    Icarus' Arms By Evan, Aaron, and Ethan

    Task: Install intake arms

    Since the last post, in which we installed the Superman Arm, we've installed the second stage of the linear lift and the belt drive that accompanies it. We began by drilling two holes in the linear slides that were exactly the space between the holes on the carriages for the linear slides using a drilling template we printed on the Tazbot printer. We did this to...

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    Reverse Articulations

    Reverse Articulations By Abhi

    Task: Summary of Icarus Movements

    In post E-116, I showed all the big wheel articulations. As we shifted our robot to Icarus, we decided to change to a new set of articulations as they would work better to maintain the center of gravity of our robot. Once again, we made 5 major deployment modes. Each articulation is necessary to maintain the robot's center of gravity as its mode of operation shifts.

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    Meeting Log

    Meeting Log March 28, 2019 By Cooper and Evan

    Meeting Log March 28, 2019

    Today's Meet Objectives

    Objective Summary

    Fix camera mount, attach lift motors, make custom cables for the drive motors, and forge the hook

    Today's Work Log

    • Fix camera mount on BigWheel
    • We've had a problem for while where the camera on BigWheel gets loose, and falls out. Cooper decided that a clamp, like the one we had before, just better executed. Cut out of...
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    Icarus' Superman Arm

    Icarus' Superman Arm By Evan, Aaron, and Ethan

    Task: Design and install a lifting arm for Icarus

    At the same time as the elbow joint was being done (which can be found in the article "Constructing Icarus' Elbow”) the Superman lift was being installed in the back half of the robot. The old superman system was difficult to install, but we designed it to be slightly easier. Mounting brackets were already pre-set in the robot so we...

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    Constructing Icarus' Elbow

    Constructing Icarus' Elbow By Evan, Aaron, and Ethan

    Task: Build the elbow for intake

    In the last Icarus' blog post, it was just getting the basic flat, support frame of the robot. The next step in the construction of Icarus' is the elbow joint that holds the intake. This time around, we simplified everything significantly as compared to BigWheel, reducing the excessive aluminum parts to two 3D printed parts. We attached these to the REV rail that...

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    New Elbow

    New Elbow By Justin

    Task: Design an elbow for bigwheel that we can 3d print

    To speed up the build process of the new robot, we made a 3D printable part of the elbow joint. The design simplifies the complex assembly of the elbow mounting point and makes it a single printable part. The old elbow contains many different parts that would need to be spaced precisely in order for the gears to mesh properly, while...

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    Bill of Materials

    Bill of Materials By Bhanaviya and Karina

    Task: Create a list of parts needed for the new robot

    To determine all the materials we need for the new robot, Karina and I started a Bill of Materials. To do this, we first analyzed Big Wheel sub-system by sub-system. We determined the parts used for each sub-system and placed it into a spreadsheet. Upon doing this, we needed to get each part's exact measurements so that we could...

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    Finishing Icarus' Base

    Finishing Icarus' Base By Evan, Aaron, and Ethan

    Task: Perform the final steps to complete Icarus' base

    Since we finished the polycarb base, our robot went through some major changes. We last left our robot in the post-bend stage, just a piece of polycarbonate. The first thing we did was to square the whole robot with side brackets. These cleanly ripped aluminum C channel side brackets now serve as the highly accurate frame of our robot, which...

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    New Robot Base - Icarus

    New Robot Base - Icarus By Evan, Justin, Aaron, and Ethan

    Task: Build the base for the new robot

    Since BigWheel was never intended to be a competition robot, we decided to build an entire new robot based off of it. This means that the base plate of the robot is going to have to be the most accurate part of the robot since everything after that has to be built upon it. To do this,...

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    VEX 393 Motor Testing

    VEX 393 Motor Testing By Jose, Cooper, Aaron, and Janavi

    Task: Test VEX Motor 393 as a faster servo for intake

    We need to speed up our intake to spend less time in the crater collecting minerals. We can accomplish this using VEX 393 Motors with high speed gears integrated, these motors are great since they count as servos, not motors. In terms of progress, this is what we did:

    • Tested VEX Motor 393 with servo...
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    Issues with Driving

    Issues with Driving By Cooper, Jose, BenB, Bhanaviya, Karina, and Justin

    Task: Widen Superman's wheels and plan the new robot

    Since we just qualified, we have a lot to do. On the list for tonight, between the 6 of us, we have:

  • Teaching Cooper how to write a blog post
  • Work on the model of the new robot
  • Widen the superman wheel
  • Start the bill of materials'
  • Ben and Karina worked on widening the Superman wheels by adding 2...

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    Road to Worlds Document

    Road to Worlds Document By Ethan, Charlotte, Evan, Karina, Janavi, Jose, Ben, Justin, Arjun, and Abhi

    Task: Consider what we need to do in the coming months

    ROAD TO WORLDS - What we need to do

     

    OVERALL:

    • New social media manager (Janavi/Ben) and photographer (Ethan, Paul, and Charlotte)

     

    ENGINEERING JOURNAL: - Charlotte, Ethan, & all freshmen

     

    • Big one - freshmen get to start doing a lot more

     

      ...
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    Up-to-Date Bigwheel Model

    Up-to-Date Bigwheel Model By Justin

    Task: Finish the Bigwheel model

    Updating the Bigwheel model to the robot’s current configuration was a challenge. The new linear slides are not standard parts, so we had to model them from scratch. There was some cleaning up that was needed on the drivetrain of the model. This was mainly attaching floating motors to motor mounts and axles to bearings. These were mainly cosmetic changes, but they help define the purpose of...

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    Latch Designs - A Retrospective

    Latch Designs - A Retrospective By Ethan

    Task: Analyze past successes and failures in our latching system

    Version 1

    The first version of the latch worked decently. We started out with the idea of a one-way, passive latch. This idea involved mounting smaller bearings and gears between them, with a spring-like nylon piece that moved only when downward pressure was placed upon the gears. This design was only fully realized before the Wylie Qualifying tournament, and only...

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    Elbow Rebuild

    Elbow Rebuild By Ethan, Jose, Karina, and Ben

    Task: Rebuild the elbow after total gear annihilation

    In a previous post, we detailed the extent to which we had stripped our gears - they were missing teeth in several places and the black anodization layer had completely stripped away. So, we had to replace them. The first order of action was to design gearkeepers for them. We've designed gearkeepers before, for the Superman arm, but these have different...

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    Pulley Spacers

    Pulley Spacers By Ethan

    Task: Design and implement pulley spacers to prevent belt interference

    We had an issue where the belts that allowed our arm to slide upward were misaligned, resulting in the belts frequently slipping. We narrowed the slippage down to a single point, at this pulley.

    We had to create a new spacer to keep that section of the belt inline with the rest. As usual, we took...

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    BigWheel Upgrades

    BigWheel Upgrades By Evan

    Task: Fix some issues on BigWheel before the build freeze

    We made more secure way of activating our hook, so we switched our piece of wire attaching the servo to the hook with a much stronger and less likely to bend strip of polycarb, which greatly improved the reliability of the hook.

    As well, we limited the back and forth motion of our slides at their attaching points. I achieved this by inserting a small...

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    Bigwheel Model

    Bigwheel Model By Justin

    Task: Design and update the Bigwheel Model

    We are updating our bigwheel model to represent our current robot. We had a model of just the chassis from the chassis study, so we are currently adding all of the changes we made throughout the season.

    Completed Changes

  • Added current intake
  • Added sorting system
  • Modeled the linear slide lift
  • Modeled superman arm
  • Future Changes

    The lift has been changed recently...
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    Latch 2.0 - Forged in Flame

    Latch 2.0 - Forged in Flame By Evan

    Task: Design a new latch for hanging

    Our latching system is too complicated to use quickly; it requires too much reliance on driver control and becomes jammed. So, we forged an iron hook to replace it. We started by taking an 8mm iron rod and placing it into the forge that we have, heating it up and bending it into shape over the course of an hour. We...

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    Drive Testing at STEM Expo

    Drive Testing at STEM Expo By Ben and Abhi

    Task: Test robot performance at the STEM Expo to inspire younger kids and practice

    An FLL team gathered around Iron Reign’s robot

    We had the privilege of being a vendor and representing SEM at DISD's STEM Expo this weekend. Thousands of people cycled throughout our area during the day, so we had the opportunity to show off our robot to many people. Some of these people...

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    Fixing Mineral Dropper Components

    Fixing Mineral Dropper Components By Jose and Evan

    Task: Fix any issues with the mineral dropper

    At the STEM expo we saw a clear issue with the mineral dropper: it is very poorly geared and doesn't deposit minerals well. A quick look at the gear configuration revealed that the gears were attached in a poor manner such that there was a lot of gear skippage. To remedy this, we attached a gear-box to the dropper to keep the gears interlocked.

    ...
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    Latch V.3.5 Assembly

    Latch V.3.5 Assembly By Ben

    Task: Assemble the V.3.5 latch and attach to the robot

    We assembled the fourth version of the latch today. Some of the improvements on this latch include using bigger bearings and thrust bearings inside. This latch is designed to be stronger and more reliable. After cleaning the parts and trimming some edges, we assembled the pieces. Upon assembly, we discovered an issue: the gears required a different amount of pressure to catch the lock. If left...

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    Mechanical Depositing

    Mechanical Depositing By Evan

    Task: Create a mechanical deposit for our selective deposit

    To relieve driver stress, we decided to put a mechanical release mechanism that would drop the minerals into the passive sorter to then further deposit them. The lever that activated the release mechanism was made of thick wire attached to a small gearbox that reversed the direction of rotation for the release gate. The lever activated the gearbox when it was pushed into the...

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    Gearkeepers

    Gearkeepers By Jose and Evan

    Task: Create and install gearkeepers to reduce slippage

    We need to install gearkeepers on the Superman arm to prevent gear skippage which damages gears over time. We designed a simple rectangle in PTC Creo and cut holes to fit bearings, 3D-printed them, and attached them.

    Now it was time to test for gear skippage. Unfortunately, we had one or two gear skips with every attempt of...

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    Superman Calculations

    Superman Calculations By Ethan

    Task: Calculate torque and other values of the Superman arm on our robot

    We want to have our robot completely replicable through the journal. So, we found it necessary to include the power calculations of various subsystems on our robot.

    Superman Arm

    The Superman arm uses two REV Core Hex motors to lift the robot upward, outputting a base 125 RPM and 6.4 Newton-meters of torque. Then, we have 15-tooth gears attached to...

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    Latch Updates

    Latch Updates By Justin, Abhi, and Ben

    Task: Update the latch

    Our first attempt at a latch was made out of flat metal L brackets that would slide into the hook, but they slid off under any stress. We decided to make a latch with a ratchet and sprocket system. The easiest way to accomplish this was to 3d print it. There are two sprockets and the lander hook will slide in between them. This causes...

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    Pool Noodle Intake

    Pool Noodle Intake By Evan

    Task: Design a quick intake for the robot before competition

    The night before our final qualifier, we decided that the intake system on the robot was not up to our standards. To fix this issue, we poked some holes in a pool noodle, and put surgical tubing through it. While this was a quick and semi effective fix, it did have some problems, mostly due to the rushed nature of its construction....

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    Selective Intake

    Selective Intake By Evan

    Task: Design a new sorting mechanism for gold and silver particles

    The differentiation between the different shapes of minerals has been something we’ve been thinking about since day one. At the time we designed a box that allowed us to sort out blocks and balls by size, but weren't able to implement it. Our original selective intake only accepted balls so we only have to go to the one loading area, but our...

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    Designing Side Shields

    Designing Side Shields By Ethan

    Task: Create side shields for BigWheel

    Iron Reign has access to an Epilog Mini laser-cutter through our school, so we decided to use it to create side shields to protect our robot during defensive play, display our team numbers, and prevent wire entanglement

    We created our original design in Illustrator. The canvas size was 12"x18", ensuring that our design stayed within the size limits. Then, we found the side height...

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    Belt Drive

    Belt Drive By Evan and Karina

    Task: Install a belt lift on our robot for depositing

    The most recent addition to BigWheel has been the addition of a belt drive lift on either side of the linear slides. We chose a belt lift over a string and pulley lift because it is a much more secure, closed system, and doesn’t require stringing. For these reasons, we switched to belt drive. While more complicated to build, it requires...

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    Latch Model

    Latch Model By Abhi and Justin

    Task: Model and print the Latch

    Early in the season, we made a hook, Although it was durable, it required a higher amount of precision than we would have liked to have, especially in the rushed last seconds of the endgame. As a result, we designed a latch that is completely 3D printed and placed it on the robot.

    This is the general model of it fit together (excluding left panel)....

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    Modeling Slide Barriers

    Modeling Slide Barriers By Kenna

    Task: Create barriers to prevent the linear slide from falling

    Recently, we added polycarb barriers to our linear slide system. They were created as a temporary measure by bending the polycarb with a blow torch and are less exact than we would like.

    I originally tried to overlap 3 rectangles, and Creo didn't register it as an enclosed shape and wouldn't extrude. For any geometric shapes you want to extrude,...

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    Creating Side-Latches

    Creating Side-Latches By Evan

    Task: Allow the robot's arms to stand on their own

    The issue with the lift is that many of the pieces that need to be made require specificity that’s hard to obtain using aluminum parts, so we chose polycarb. The key to making these specialized parts is a small butane torch held at just the right distance. Run the torch back and forth across the part where you want to bend, in the...

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    Scoring Mechanism

    Scoring Mechanism By Janavi and Abhi

    Task: Create a way to hold minerals

    We now have a lift and an intake system, but we're missing a way to hold onto and deposit the minerals after intake. To achieve this, we created a prototype.

    We wanted to create a box-like shape that can be attached to a moving axle to hold the minerals when lowered. When the lift is up in the air, the axle can rotate...

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    BigWheel Arm Locks

    BigWheel Arm Locks By Evan

    Task: Create locks to keep BigWheel's intake arms in an extended position

    An important part of this year's challenge is scoring minerals in the lander. Additionally, our upright elbow cannot raise the scoring mechanism to the lip of the lander alone. Thus, we had to create a way to get those additional inches to score.

    First, we tried a REV linear slide design. This worked, but...

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    End of TIG Welding

    End of TIG Welding By Evan

    Task: Detail TIG welding plans and why they failed

    At the beginning of the season, we saw that our robot base was not as well crafted as we originally thought it to be. While we have worked to correct it over the season, it’s still not what we wish to see in a functional robot, and we came up with the idea of making the frame from light aluminum instead of...

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    Selecting Intake System

    Selecting Intake System By Janavi

    Objective: Determine the type of intake system that will allow us to efficiently obtain and deposit minerals within the lander

    In our post "Selecting Lift System" we decided that the linear slide system that we will use is the MGN12H rails also referenced to as the Ball-Bearing slides. These slides while heavy provide the smoothest option. now that we have chosen the Lift system we need to determine the intake system that will allow us to...

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    Rotational Nylon Wear Test

    Rotational Nylon Wear Test By Ethan

    Task: Test the amount of wear on a moving nylon part over time

    After our last tournament, we noticed several 3D-printed sprockets that had worn down significantly. So, we wanted to measure how much wear one of our nylon sprockets takes per second.

    First, we printed out a model of one of the REV sprockets, using the STEP file here. We printed it with ~45% infill, our average...

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    Arm Repairs

    Arm Repairs By Evan and Abhi

    Task: Fix elbow and Superman

    This is a follow up to Post E-64, Code Issues Break the Superman Arm. We made some hustles and got them fixed. We reinforced Superman by ganging up multiple gears (as seen above) and repeated a similar process with the elbow arms. Hopefully this will make BigWheel more secure, especially with software limits in the code.

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    Code Issues Break the Superman Arm

    Code Issues Break the Superman Arm By Abhi

    Task: Analyze the code issues that led to our robot breaking

    After constant use, our robot's Superman arm broke. At this point, it is important to analyze our failures. This error was not because of a build issue but rather a code and driver control issue.

    When testing, we always heard the gears grinding some times and we thought it wasn't an issue. There were instances like once when...

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    Linear Nylon Strength Test

    Linear Nylon Strength Test By Ethan

    Task: Measure linear nylon wear

    We've had some issues with our nylon sprockets, mainly through excessive wear and tear. So, we want to test what circumstances cause what deformation.

    Linear Deformation

    This one was simple. We printed this block with 60% infill (the highest infill we tend to use), measured its length (3.75") and hung one end from our deck. On the other end,...

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    Selecting Lift System

    Selecting Lift System By Janavi

    Objective: Determine the type of lift system will allow us to delatch and reach the lander

    In our past post Choosing Drive Train we decided that we will use the chassis BigWheel. After deciding the base we need to now think about the lift system that we want to use to allow us to both deposit into the lander and latch onto it. Evan and I have been experimenting with linear slides to use for our...

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    Friction Coefficient and Energy

    Friction Coefficient and Energy By Ethan

    Task: Measure the coefficient of friction of our oven mitt intake

    We want to measure various constants of materials on our robot. Earlier this season, we found that a nylon-mitt collision on our intake sapped the rotational energy of our intake. But, that was just a build error, easily fixable. But now, we plan to measure the energy lost from particle-mitt collisions, and the first part of this is to find the coefficient of friction...

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    Chassis Mark Two Planning

    Chassis Mark Two Planning By Ethan

    Task: Plan a new BigWheel chassis

    Our next tournament is a while away, in about two months. So, we have a little bit of time to redesign. And, our current chassis has plenty of faults.

    Our original BigWheel base.

    First and foremost, our chassis was built for a testing competition, not to be a full fledged competition robot. As such, it's a little lacking in...

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    Materials Testing Planning

    Materials Testing Planning By Ethan

    Task: Design a lab to test nylon properties

    So, Iron Reign is used to using off-the-shelf materials on our robot: silicone oven gloves, ice cube trays, nylon 3D-printed parts, and more. But, we've never actually done a thorough investigation on the durability and efficacy of these parts. Because of this, we've had some high-profile failures: our silicone blocks breaking on contact with beacons in RES-Q, our nylon sprockets wearing down in Relic Recovery, our gears grinding...

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    BigWheel Upgrades

    BigWheel Upgrades By Evan

    Task: Get BigWheel ready for the tournament

    Today, we built mounts to attach both types of intake to the rack; the rack-and-pinion corncob intake and the red-flapped intake. We also created a new way of mounting the arm to the chassis. The idea is that since it’s attached to the rack and pinion track, it reaches high enough for the robot to put the minerals in the lander. We made the arm with a 12-86 gear ratio....

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    Linear Slide Lift

    Linear Slide Lift By Janavi

    Task: Design a lift for MiniChassis

    For extension both into the crater and lifting our robot up to the crater we have decided test a linear slide system. We plan to utilize linear slide system for both vertical and horizontal extension on MiniMech.

    Horizontal Extension Goals

    • Long Enough to reach Crater from distance
    • We need to determine how many stages we need

    Vertical Extension Goals

    • Long Enough...
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    Torque Calculations

    Torque Calculations By Karina

    Task: Calculate the torque needed to lift chassis

    After seeing how well the robots that could latch onto the lander performed at the scrimmage, Iron Reign knew that we had to be able to score these points. We originally tried lifting with a linear slide system on MiniMech, but it was not strong or sturdy enough for the small chassis, and would definitely not be a functional system on BigWheel in time for competition. And so we...

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    BigWheel Arm

    BigWheel Arm By Evan

    Task: Design an arm for BigWheel

    Bigwheel’s intake arm is one of the most important parts of the robot. Since our scrimmage, we have learned how to make this arm much more efficient, starting with some supports. The original intake arm was made of two scrap Tetrix rails. The result of this was that the two sides of the arm would be out of sync, creating a twist in the arm that caused...

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    Intake Update

    Intake Update By Ethan, Abhi, Justin, and Kenna

    Task: Update the intake for the new robot size

    We created the corn-cob intake a few weeks ago. Unfortunately, it was a little too big for the Minichassis, so we had to downsize. So, we designed Intake Two. Continuing our history of using kitchen materials to create robot parts, we attached two silicone oven mitts to a beater bar equipped with Iron Reign's REVolution system. Then, we attached a...

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    Mini Mecanum Chassis

    Mini Mecanum Chassis By Janavi and Justin

    Task:

    Over the summer, we designed many robots for the North Texas Chassis Project, including one based off of last year's Worlds robot, Kraken. The robot chassis had 6" mechanums. But, based on what we know about this years challenge we have decided that this chassis does not utilize the 18-inch cube effectively.

    We have chosen to design a chassis that is similar in function to Kraken, but smaller...
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    BigWheel+

    BigWheel+ By Evan

    Task: Continue work on BigWheel

    BigWheel has gone through a few major changes. First and foremost, it now has a flipper arm, AKA Superman. Since the robot itself is the lift mechanism, we had to put a lot of work into Superman's design. Right now it is a 10 inch REV rail attached to two 125-tooth gears for redundancy, with a custom 3D printed mount housing an pair of omniwheels on the other...

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    Mining Base 2.0

    Mining Base 2.0 By Ethan

    Task: Rethink our static robot idea

    So, our dream this year is to create a static robot. Last week, we found out about a rule change that would prevent our mining robot from staying within the crater. Naturally, we found a way around this, leading us to the Mining Base 2.0.

    The robot will be fixed under the lander's hooks, and have a horizontal and vertical linear slide attached to...

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    Another Design Bites the Dust

    Another Design Bites the Dust By Ethan

    Task: Discuss a new rule change

    At one point, we were thinking about creating a "mining facility" robot that stays static within the crater and delivers the blocks into the mining depot. In our eyes, it was legal as it would hold as many blocks as possible inside the crater but only deliver two at a time outside. It would be super-efficient as we would be able to stay within the crater, and not...

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    Team Marker Fun

    Team Marker Fun By Karina

    Task: Create the Team Marker

    Last week, we decided to take up the task of creating the team marker, a simple project that would surely be overlooked, but can score a significant amount of points. We wanted the marker to be meaningful to the Iron Reign, but also follow the team marker rules. To start, we made a list of ideas:

    Last season, Ducky (as seen in idea #4) brought...

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    Corn-Cob Intake

    Corn-Cob Intake By Ethan and Abhi

    Task: Design an intake system unique for balls

    Right now, we're working on a static-deposit system. The first part of this system is having an intake mechanism that passively differentiates the balls and cubes, reducing complexity of other parts of the design. Thus, we created the corn-cob intake.

    First, we bought ice-cube trays. We wanted a compliant material that would grip the particles and be able to send them...

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    Designing the Corn Cob Aligner

    Designing the Corn Cob Aligner By Ethan and Abhi

    Task: Design an aligner for the beater bar intake

    The ice cube tray is 9 holes wide and each hole is 16.50mm wide and long. Using these measurements, we created an aligner that would cause the ice cube tray to roll into a cylinder.

    We're designing an intake that will allow the robot to intake particles, and this is a major portion. This will allow us...

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    Designing Wheel Mounts

    Designing Wheel Mounts By Justin

    Task: Create wheel mounts for our Mini-Mecanum chassis

    Today, we modeled two possible designs for mini-mecanum wheel mounts. The purpose of the mounts is to hold a churro or hex shaft in place to mount mecanum wheels to. The first design was a 6cm by 6cm square with rounded edges that was 5mm thick. A hexagon was removed from the center to hold the churro that supports the mecanum wheel. This design,...

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    Intake Sorter

    Intake Sorter By Abhi

    Task: Design a sorter for the balls and blocks

    To increase the efficiency of our robot, we looked into ways to passively sort minerals during intake and deposit. It is important to sort because it requires less precision under driver control allowing a faster and more efficient robot. Though bulky, we designed an initial design to sort the minerals.

    When this piece is mounted and both blocks and balls are...

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    BigWheel Chassis

    BigWheel Chassis By Evan

    Task: Work on a possible chassis

    We've been toying around with the idea of using BigWheel, our Summer Chassis Research Project bot, in this year's competition with a few modifications. The idea for this robot is that it has a collection system that extends into the crater, and folds up on top of the robot. It reaches in with the collection arm, and grabs the blocks/glyphs, drives backwards and flips vertically using the drive wheels as a...

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    Hanging Hook Prototype

    Hanging Hook Prototype By Abhi, Ethan, Justin, and Janavi

    Task: Design a hook for pulling the robot on the lander

    To get a head-start on latching and delatching from the lander during autonomous, we got a head start and made some hook prototypes. If your robot can just do these two things, you can score 80 points. When making this hook, it needs to be modular enough to not require much accuracy but also needs to be...

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    Chassis Brainstorming

    Chassis Brainstorming By Ethan and Evan

    Task: Brainstorm chassis designs

    At the moment, we've used the same chassis base for three years, a basic mechanum base with large wheels. However, we don't really want to do the same this year. At the time, it was impressive, and not many teams used mechanum wheels, but now, its a little overdone.

    Thus, we have BigWheel. We used this as a practice design, but we ended up really...

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    Brainstorming Two

    Brainstorming Two By Evan, Abhi, and Janavi

    Task: Have a 2nd brainstorming session

    We had another brainstorming session today, which allowed us to break down into some new building tasks.

    Intake System 3 - TSA Bag Scanner

    This part of our robot is inspired by the bag-scanning machine in TSA lines, more specifically the part at the end with the spinning tubes. The basic design would be like a section of that track that flips over the top of...

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    Selecting Wheels

    Selecting Wheels By Janavi

    Objective: Determine the type of wheel that best suits the chassis

    In the Choosing Drive Train E-16 we decided that we will use the chassis BigWheel. We know that our wheels need to be light weight but we need to determine the size of the wheel that will keep our robot far away enough from the ground for us to provide enough clearance to allow us to climb over the crater rim. But, if we choose wheels...

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    Choosing Drive Train

    Choosing Drive Train By Janavi

    Task: Analyze the game

    In our last post, we created a chart where we listed each task asked based on point value and the level of difficulty, separated by autonomous and teleop. Our goal is to find a drive train that will allow us to build a robot to accomplish all of these tasks efficiently and consistently, but this matrix will allow us to determine what to focus on first.

    Drivetrain Comparison

    This summer...

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    Testing Intakes

    Testing Intakes By Ethan and Evan

    Task: Design a prototype intake system

    In our first practice, we brainstormed some intake and other robot ideas. To begin testing, we created a simple prototype of a one-way intake system. First, we attached two rubber bands to a length of wide PVC pipe. This worked pretty well, but the bands gave way a little too easily.

    For our next prototype, we attached a piece of cardboard with slits to...
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    Rover Ruckus Brainstorming & Initial Thoughts

    Rover Ruckus Brainstorming & Initial Thoughts By Ethan, Charlotte, Kenna, Evan, Abhi, Arjun, Karina, and Justin

    Task: Come up with ideas for the 2018-19 season

    So, today was the first meeting in the Rover Ruckus season! On top of that, we had our first round of new recruits (20!). So, it was an extremely hectic session, but we came up with a lot of new ideas.

    Building

    • A One-way Intake System

    • This suggestion uses a...
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    Garchomp Presentation

    Garchomp Presentation By Janavi and Kenna

    Task: Present in the Inviational Presentation Series

    Today, we participated in the Chassis Presentation workshop for teams all around the North Texas region; the project was to design robots and perform various tests with them, then present findings. We presented our chassis, Garchomp, a mechanum wheel chassis as can be seen in the slide photos below.

    Presentation

    ...
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    Bigwheel Presentation

    Bigwheel Presentation By Arjun and Karina

    Task: Present about Garchomp

    As a new freshman on Iron Reign, I took on the responsibility of a robot we called Bigwheel. Karina and I worked on getting the robot into something that could be put through load tests, meaning tightening the chain, fixing misaligned sprockets, and getting the wiring together. We participated in the Chassis Presentation workshop hosted by technicbots for teams all around the North Texas region to work on one or more...

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    BigWheel CAD

    BigWheel CAD By Ethan

    Task: Create a mockup for BigWheel

    We've been working on a design for the chassis workshop for quite a while now. We already presented it at the first meeting, and now we need to work on the other components of our presentation: the weight testing, torque calculations, speed testing, and finally, a chassis model. To do the last one, we made a simple model in PTC Creo.

    ...

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    Adjusting Garchomp's Chains

    Adjusting Garchomp's Chains By Janavi and Kenna

    Task: Build the Chassis

    In our last post, we thought that we had finished Garchomp. However, as we came back to the next practice, we realized that Garchomp's chains were incorrectly linked.

    So, we started to diagnose the problem. We noticed that the old REV rails we were using had dents in them, which caused the motors to shift, therefore causing the chains to come off the gears.

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    C.A.R.T. Bot Summer Project

    C.A.R.T. Bot Summer Project By Evan, Abhi, and Janavi

    Task: Enhance our robot-building skills

    At Iron Reign, we hate to waste the summer since it’s a great time to get all the ridiculous builds out of the way. Thus, we created C.A.R.T. Bot (Carry All our Robotics Tools). Our constant companion these last few seasons has been our trusty Rubbermaid utility cart which has been beaten and abused, competition after competition, as it carried all our tools...

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    Summer Chassis Project - July Meeting

    Summer Chassis Project - July Meeting By Kenna, Ethan, Charlotte, Karina, Shaggy, and Abhi

    Task: Compare & Collaborate on Chassis

    At Big Thought's offices in downtown Dallas, three teams met. Technicbots (Team 8565), EFFoRT (Team 8114), Schim Robotics (12900), and Iron Reign are all part of the North Texas Chassis Project. The goal is for each team to create any number of chassis and improve their building skills by learning from the other teams.

    ...
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    Chassis Flyer

    Chassis Flyer By Ethan

    Kraken

    This is Iron Reign’s world-championship robot from last season. The basic rundown is this:

    • Weight - 42 lbs
    • Size - 18x17.8x17.5 inches
    • Drive - Mecanum
    • Main parts kit - REV

    Iron Reign uses two design processes in conjunction with each other to create efficient and reliable parts: iterative, continual improvement and competitive design.

    An example of these design processes working in conjunction is the process of...

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    Big Wheel Ideas

    Big Wheel Ideas By Janavi

    Task: Create a Unique Chassis

    This summer, we're working on creating unique chassis that are outside of our comfort zone. Often we choose safe bases - opting for ones that we have tried in the past and know work. But, taking the opportunity to explore unique bases allows us to see their performance. One of our ideas is for a two-wheeled robot, with two large wheels and one, smaller, non-motorized omniwheel. We think that...

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    Swerve Drive Prototype

    Swerve Drive Prototype By Abhi and Christian

    Task: Build a Swerve Drive base

    Over the past week, I worked with Christian and another member of Imperial to prototype a drive train. Due to the limited resources. we decided to use Tetrix parts since we had an abundance of those. We decided to make the swerve such that a servo would turn a swerve module and the motors would be attached directly to the wheels.

    Immediately we noticed it was...

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    Swerve Drive Experiment

    Swerve Drive Experiment By Abhi

    Task: Consider a Swerve Drive base

    Last season, we saw many robots that utilized a swerve drive rather than the mecanum drive for omnidirectional movement. To further expand Iron Reign's repertoire of drive bases, I wanted to further investigate this chassis. Swerve was considered as an alternative to swerve because of its increased speed in addition to the maneuverability of the drive base to allow for quick scoring due to its use of traction wheels at...

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    Finishing the Chassis

    Finishing the Chassis By Kenna and Janavi

    Task: Build a Chassis

    We have been working on this chassis for over 3+. In out last post, we had thought the wheels were ready to go. However, various parts, such as wheel mounts, had been put on backwards or were unusable so we had to do everything over again.
    Now that the robot has wheels, we started on attaching the REV expansion hub and battery....

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    Relic Recovery Reveal Video

    Relic Recovery Reveal Video By Abhi and Austin

    Task: Publish Robot Reveal

    After a season of work, Iron Reign has the final version of Kraken ready for Championships. With it comes a video showing off its features. We filmed it moving in all sorts of ways. We also found pictures from this season of the team's design growth and outreach events, including having fun. You can view it here below!

    ...
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    Relic Arm

    Relic Arm By Karina and Evan

    Task: To have a working relic arm in time for Worlds

    For weeks now, Team 6832 has been working hard to have a functional relic arm designed and mounted on the robot. We feel that it is absolutely necessary to be able to complete relic recovery at Worlds if we do not want to be crushed by the competition. Well, fear not, our relic arm is here!

    Now,...

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    Robot Video Analysis

    Robot Video Analysis By Charlotte

    Task: Determine the acceleration and max velocity experimentally

    To find the acceleration and maximum velocity of our robot we decided to use a method we have learned in our physics class at school: video analysis with Logger Pro. The procedure is like so: Take a video of the robot head on with a still camera. In the video, in the same frame of movement as the robot, hold a known measuring device (ruler/meter stick). Insert the...

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    Upgrading Kraken

    Upgrading Kraken By Abhi

    Task: Update CAD model

    With FIRST Champs right around the corner, we needed to update our CAD model to match our current Kraken. After all, Kraken can't be lackin' any features. I decided to reopen Creo and make some modifications.

    One of the most important things I needed to put on was the Relic arm. After planning on it for the whole season, we finally finished it recently. I...

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    Build Kraken 2

    Build Kraken 2 By Janavi and Kenna

    Task: Build a Pushbot (Kraken 2)

    Building. It seems so simple but alas I was wrong, so wrong. During our post mortem, when we discussed our roles on the road to worlds, Kenna and I volunteered for building a pushbot. We both wanted to get more experience in building and thought this would be a perfect way to becoming well-versed in building. Our task was to create a drive base that, when placed on...

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    Elastics Testing

    Elastics Testing By Ethan

    Task: Test wear and tear on our robot's bungees

    This is the fifth or so article in our series on robotics testing. Today's spotlight will be on the constants of our robot's bungees, and how they're affected by various wear and tear. So, we took three bungees from the same set as the ones on our robot, and placed them in various places: stretched outside, stretched inside, and a control sitting in the...

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    Motor Constants and Future Plans

    Motor Constants and Future Plans By Ethan

    Task: Find constants for the motors for future calculations

    In order to better predict how our robot will work, we first need to find a few constants to do calculations. Luckily, our school has an engineering class, so many of us have the skillset to do these calculations.

    The base data we needed was:

    NeverRest 40s:
    &tab;160 rpm\16.755 rad/sec
    &tab;369 oz-in\2.6057 Nm

    NeverRest 60s:
    &tab;105 rpm\10.996 rad/sec
    &tab;593 oz-in\4.188 Nm

    REV Servos:...

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    Engineering the Flag Holder

    Engineering the Flag Holder By Abhi

    Task: Find a place to put the flag

    When we went to Super Regionals, we forgot about where to put our flag with the new design. That led us to strapping a zip tie to a side shield, ruining the aluminum aesthetic. We decided we need a specially designed part to put our flag in since duct tape didn't look nice (we're classy like that). I embarked on a mission to create a...

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    Gripper Physics Diagrams

    Gripper Physics Diagrams By Ethan

    Task: Describe the physics of the gripper

    We always struggle a little with describing our robot to the judges. So, this post will be the third in a series of posts describing the physics of our robot (four if you count the coefficients of friction). First, we have the free body diagrams of the gripper.

    Next, to further describe this, we created an expiriment in which we determined the maximum...

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    The Kraken Awakes

    The Kraken Awakes By Abhi

    Task: Develop a new robot model

    After continual development and adding the fifth grabber, it became time to make a new model.

    With some sick upgrades, Kraken has become reborn just in time for Super-Regionals. With some new mechanisms and constraints, we developed a better and more efficient robot.

    Gripper v5 was added to the chassis via 4 small REV rails which could keep the grippers attached to the conveyor belt....

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    Designing the Tent

    Designing the Tent By Janavi and Kenna

    Task:

    So, its Supers time again! And that means its time to design our tents and pick a theme for ourselves. Last year, when Iron Reign went to Supers for the first time, we got to see all of the other teams' displays; before, we had only been to regional level competitions and weren't ready for the displays at Supers. We saw the coolest tents and got some really cool trinkets. For example, one...

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    Progress of the Octopuckers Over Time

    Progress of the Octopuckers Over Time By Ethan and Tycho

    Task: Chart the progress of the octopuckers over time


    This design was too rigid, we overlooked the fact that triangles tend to be the strongest shape, and therefore this octopucker wasn't as compliant as we wanted, damaging the blocks.

    This design was really good, and we used it for 3-4 tournaments. Our initial design of these wouldn't damage the blocks significantly at the levels...

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    Polycarb Deformation

    Polycarb Deformation By Ethan

    Task: Find a constant for polycarb deformation

    Recently, we've been having an issue with our gripper in that the shielding for the sides of the intake have been bending torsionally, so that they deform and interfere with our glyph take-up. So, we created a lab to find the torque required to cause this deformation.

    We cut a length of polycarb with a similar width but different length to test this (thickness...

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    Relic Arm V2

    Relic Arm V2 By Abhi and Christian

    Task: Revise Relic Arm

    As were continuing development of the relic arm, we realized we needed to make several modifications. That resulted in the following design.

    This demonstrates the latest version of the relic recovery arm. You may be saying "WOaH that doesn't fit in sizing cube!" Good news: The servo in the middle folds out the second part of the arm to that the entire mechanism fits in the sizing...

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    Revolution Flyer

    Revolution Flyer By Tycho

    Task: Create a flyer for our Revolution system

    We've talked to REV before about our unique REVolution system that we've detailed in other posts, but for those who are unaware, its a system that we've personally designed to turn REV extrusions into axles, which enable us to have more flexibility in design. But now, we've designed a flyer to get people on board with the system.




    ...

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    Designing our Wheel Mounts

    Designing our Wheel Mounts By Tycho

    Recall the discussion and design strategy regarding our wheel mounts

    The side shield design process involved much thought and discussion. We have experienced difficulty with the wheel mounts we have been using, which are the ones from last year. These are made of a composite of nylon and aluminum, but they are too thick and consume a lot of space on our already large robot. Also, the our new Mecanum wheels are thicker...

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    Intake Stars

    Intake Stars By Tycho

    Task: Improve the functionality of the gripper

    Our grabber is good, but it isn't achieving 100% of the potential it could. One thing we're doing is creating the Grabber V.5 previously blogged about, but we also want to increase the speed of the grabber in other ways, in order to get every single bit of performance out of our robot, since we want to really impress at Supers. So, we designed star-grabbers. The purpose of...

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    Relic Recovery

    Relic Recovery By Abhi

    Task:Develop a relic arm

    Now that we had developed a glyph game and a stable autonomous, it has come time for Iron Reign to conquer the true challenge of the 2017-2018 competition: Relic Recovery.

    After seeing that many record setting teams have built "dump truck" robots that can fill both cryptoboxes with incredible speed and accuracy, we realized that if we developed an accurate relic arm, such teams would ally with us and our...

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    Conveyor Belt V2

    Conveyor Belt V2 By Abhi

    Task: Develop Conveyor System 2

    After analyzing the lack of speed from our last competition, we decided to continue the journey of attaching the gripper arms to a conveyor belt as previously designed. To do so, we realized that we needed to utilize the REVolution system to make the grippers work better. Also, we needed two points of attachment for our robot after seeing that one didn't work with the first version of the...

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    Friction Coefficients of Various Materials

    Friction Coefficients of Various Materials By Ethan

    Task: Test Friction Coefficients of Various Materials

    Introduction:

    Iron Reign has used many different materials in years past. In those years, we usually preferred materials which were more durable. We started with ABS, but while hard, it was relatively brittle. We attempted to use Filoflex and Ninjaflex, and they were more durable, but too soft. Finally, we had used nylon for the past seasons, as it was extremely durable but...

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    Creo Parametric, a Learning Journey

    Creo Parametric, a Learning Journey By Abhi

    Task: Learn Creo Over Time

    Over the course of this past season, I have been learning how to use Creo Parametric to learn 3-D modeling. Since this is Tycho's last year on the team (so far he has been our main modeler), I decided to learn from him so the modeling legacy would continue.

    The first project I was tasked to design was the wheel guard on the robot....

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    Chassis Model

    Chassis Model By Abhi and Janavi

    Task: Use Creo Parametric to CAD the chassis

    After making significant development on our robot, we decided to model it. So far, we have developed the chassis of the robot seen below

    To develop this, many types of contraints were used.

    The entire model is dependent on this tetrix bar. The bar was constrainted using the Default feature since it was the base of the model. To this, the lift...

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    Introducing Kraken

    Introducing Kraken By Abhi and Tycho

    Task:Design the robot model

    We have finally completed assembly modeling Kraken, Iron Reign's Relic Recovery robot. Named after the sea creature due to the robot's OCTOPUCKERS, Kraken stands as a fierce competitor in FTC.

    To the chassis, we added the glyph system mounting. We first designed a linear slide replica and constrained that to a small TETRIX U connector piece which attached to the REV rail base. On the other side...

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    REVolution Inside Washer

    REVolution Inside Washer By Tycho

    Task: Power to the REVolution

    This is an inside washer. It will fit entirely inside the standard plate hole. We don’t use these much, but they can be useful as spacers.

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    REVolution Narrow Bearing Washer

    REVolution Narrow Bearing Washer By Tycho

    Task: Power to the REVolution

    Washers can be used as spacers. They are also used to smooth out the rough top layers. Keep the bed very clean and smooth and the bottom surface of parts should be very slippery against other nylon. Put these in between the rough top bearing surface of one part (with rough surface facing rough) and the smooth bottom surface of the next part, and the friction...

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    REVolution Custom Dual Rail Plate

    REVolution Custom Dual Rail Plate By Tycho

    Task: Power to the REVolution

    This shows customized version of the Dual Rail Plate. This is for our 4th generation rolling gripper system. The small ears are designed to hold a long M3 bolt that have a stack of mini ball bearings on them. These ball bearings squeeze our timing belts together, forcing them into a more oval shape, but still allowing them to glide. This reduces friction quite a...

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    REVolution Rail Stop

    REVolution Rail Stop By Tycho

    Task: Power to the REVolution

    This stop can be placed anywhere on a REVrail to trap mounting plates inside bearings. They are usually used in pairs.

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    REVolution Thin Bearing

    REVolution Thin Bearing By Tycho

    Task:Build an Army Worthy of Mordor

    This is the standard bearing / bushing that allows a REVrail to rotate inside a plate. It is typically coupled with a glide washer and two stops to bind it to an attachment plate or pillow block.

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    REVolution Rail End Cap

    REVolution Rail End Cap By Tycho

    Task: Power to the REVolution

    End caps are stops placed at the end of a REVrail. Five of the holes are for M3 bolts that can be screwed into the standard holes in the cross section of the extrusion. We highly recommend tapping these holes and then using threadlock to retain the bolts. So far we’ve only had to use a single bolt since we haven’t experienced very large forces The...

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    REVolution 15x20 Tooth Sprocket

    REVolution 15x20 Tooth Sprocket By Tycho

    Task: Power to the REVolution

    This is our REV0lution 20 tooth sprocket for #25 chain. This took a lot of trial and error to get right, because it was the component most sensitive to our print settings. We had to inset the tooth profile quite a bit because any extra material created by perimeter settings would cause the gaps between teeth to be too small for the chain to fully engage,...

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    REVolution Pillow Block

    REVolution Pillow Block By Tycho

    Task: Power to the REVolution

    This is a standard pillow block. We had to add adhesion pads to the ends because the nylon would curl away from the print bed. But these are easily cut off with a hobby knife.

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    REVolution Thick HingePlate

    REVolution Thick HingePlate By Tycho

    Task: Power to the REVolution

    This is our most used hinge plate. The 4 holes can take M3 screws to attach to a REVrail on one side at the end.

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    REVolution Narrow Inside Washer

    REVolution Narrow Inside Washer By Tycho

    Task: Power to the REVolution

    This washer is a stackable spacer that can be used to adapt standard bearings/sprockets/pulleys to thinned base plates.

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    REVolution Basic HingePlate

    REVolution Basic HingePlate By Tycho

    Task: Power to the REVolution

    This is our most used hinge plate. The 4 holes can take M3 screws to attach to a REVrail on one side at the end.

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    REVolution Simple Dual Rail Plate

    REVolution Simple Dual Rail Plate By Tycho

    Task: Power to the REVolution

    The dual rail plate allows you to couple the rotation of two REVrails together. The distance between the holes should be based on how you are coupling them together. This model is designed to use GT2 5mm pulleys and a 46 gap timing belt.

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    REVolution Pulley

    REVolution Pulley By Tycho

    Task:Build an Army Worthy of Mordor

    This GT2 pulley has rounded teeth that engage nicely. GT2 pulleys and timing belts are the most common in use with 3D printers - but those are usually of the 2mm pitch variety. We didn’t think our printer would be able achieve the fine detail accuracy needed to print at that size, so we went for the 5mm pitch belts. On our printer we can take this...

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    Gripper v4, Octopuckers

    Gripper v4, Octopuckers By Tycho and Abhi

    Task: Design a new piece for intake

    Version 2 of our gripper arms worked much better than our original. Due to their silicone material and trianglular shape, we definitely had more control over the glyphs than our one degree of freedom grabber arms. However, we still had issues we needed to address. When glyphs were taken in, since the silicone surface did not have much mobility and compressibility, glyphs would often fall. Due to slight...

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    How to Assemble parts in PTC Creo

    How to Assemble parts in PTC Creo By Abhi

    Task: Learn how to Assemble parts in Creo Parametric

    In addition to making parts to print in Creo, it is sometimes useful to combine multiple parts to make a model. For example, we can make a robot model by assembling parts in Creo. We have conducted a video on how to do so.

    For this tutorial, we first created two simple parts...

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    Relic Recovery Strategy Part 1

    Relic Recovery Strategy Part 1 By Austin

    Task: Determine building strategy for Relic Recovery

    Any well-versed team understands that, depending on the competition for the year, a robot will either be modified to compete or be built from the ground up. In any case, however, a robot often starts at its chassis, and teams have multiple companies that provide solutions to the common robot chassis’ needs and specifications. To name a few: AndyMark® has its standard kits that include all the...

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    Designing the Jewel Thief

    Designing the Jewel Thief By Evan

    Task: Design a part to remove the jewel

    The jewel thief, the mechanism for knocking off one of the jewels, was going to be one of the tougher parts of our bot to integrate, based on the chassis we began with. But, with a little engineering and some long thought, we came up with a few ways to implement it. First, we began with a side mount, and it was alright...

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    How to make a part in PTC Creo Parametric

    How to make a part in PTC Creo Parametric By Abhi

    Problem: How to Make a Part in Creo Parametric

    PTC Creo Parametric is one of the best software to 3-D model tools that we can print out. I will detail how to create a part in Creo for both our team and any other teams who need help creating a piece. For this demo, Creo Parametric Academic Edition was used along with a pre designed model of the part.

    To...

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    Wheel Protector Correction

    Wheel Protector Correction By Abhi

    Problem: Wheel Guard Innacuracy

    Refering back to the design of the wheel guard, we decided it was time to actually mount it on the robot. At first, it seemed like the part was perfect for the robot since it fit just snug with the screws on the wheel. However, upon mounting, we discovered the following:

    Turns out that the part is acutely shorter than the real height of wheel relative to the horizontal axis superimposed upon the vertical plane. As a...

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    Stopping Glyph Damage

    Stopping Glyph Damage By Abhi

    Task: Stop Destroying Glyphs

    Since damaging field elements is a huge no-no, we needed to fix this, we decided to create a 3-D part to protect the glyphs from our wheels

    Model:

    During the first attempt, I had just self taught Creo hours prior to construction. As a result, I was not very precise nor efficient in my design. Nevertheless, we recognized that there were some basic shapes we could use for construction such as a semicircle for the bottom half and two rectangles on the...

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    Chassis Upgrades

    Chassis Upgrades By Austin

    Task: Upgrade our chassis

    Because our robot at this point has merely become a collage of prototypes that we compete with, there are often subtle improvements that need to be made. Starting with the wheelbase, Abhi has written a blog about the shields we printed to protect the glyphs from the gnashing bolts of our mechanum wheels, and we also tensioned all our set screws and motor mounts to make sure that our...

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    Designing the Grabber Further

    Designing the Grabber Further By Evan

    Task: Design the grabber design and make future plans

    The grabber has been evolving. A column made of a turkey baster and a wooden dowel attached to servo has come into fruition. The first drawings and designs are coming along, and some 3D printed parts have been thought up to allow the square dowel to become a hexagon. An adapter of sorts. The grabber and lift have been outfitted with a...

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    Testing Materials

    Testing Materials By Austin, Evan, and and Tycho

    Task: Test Materials for V2 Gripper

    Though our current gripper is working sufficiently, there are some issues we would like to improve in our second version. The mounting system is unstable and easily comes out of alignment because the rev rail keeps bending. Another issue we've encountered is the cervo pulling the grippers so that they begin to cave inwards, releasing any blocks being held at the bottom. By far the biggest problem is...

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    Building Competition 2017

    Building Competition 2017 By Evan and Austin

    Task: Find the best robot design

    The games have begun and it’s time to build. So that’s what Austin and I did. A war had been declared. Legions of the indentured collided on the battlefield. Millions were slaughtered during this new age armageddon. Austin had his army. I had mine. Two different ideas to do the same task: lift glyphs into their correct positions. A simple job but one that caused a rift in...

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    Slide Designs

    Slide Designs By Austin

    Task: Figure out slide mechanism

    After determining that the treaded channel was much too buggy to perfect with the time we had, we shifted attention to other scoring systems like grabbers, however before finding the right grabber we decided we needed to get the track for it completed first. We’ve had experience in the past with all sorts of rails from Tetrix kits that convert their standard channels into lifts, to the newer...

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    Narrowing Down the Designs

    Narrowing Down the Designs By Evan and Austin

    Task: Redesign our grabber systems

    In an attempt to get a working lift system before the coaches meeting we will be presenting at, a linear slide has been attached to the robot, along with a pair of grabbing arms. They work surprisingly well and aren’t as complicated as my idea. Plus the importance of speed has really taken hold on me this year. We need to be as fast...

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    Intake Systems

    Intake Systems By Austin

    Task: Work on designs for the intake system

    Over the past couple of days we’ve experimented with a horizontally mounted track system that we had hoped would serve to move blocks through the entire length of the robot and into the crypto box. Immediately we noticed a few issues, the primary one being that the tread was static in terms of mounting and therefore wasn’t accepting of blocks when feed at an odd...

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    Further Design of the Intake

    Further Design of the Intake By Evan and Austin

    Task: Design the grabbing systems further

    The sun came out and it was back to the field. We got started right away, both of us building our designs. Since the cryptoboxes were wider than the 18 inch sizing cube, we started by designing a fold out for the conveyor belt. This was entirely proof of concept, purely to see if it was at all aplicable in the game...

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    Intake System Competition

    Intake System Competition By Evan and Austin

    Task: Compare build designs for the cryptobox intake system

    The block scoring system is going to be an integral part of the competition this year, and it will have to built sturdy. It’ll have to be reliable for us to have any shot of winning any matches. So we got to brainstorming. We spent a while at the whiteboard, drawing up various mechanisms and ways to pick up blocks. One idea was the idea...

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    Super Regionals Booth Design

    Super Regionals Booth Design By Lin, Austin, and Omar

    Task: Design a theme and layout for super regional pits

    A year or two ago Imperial advanced to Super Regionals, bringing along a few Iron Reign members. While teams get excited and have a lot of fun at Regionals, it's nothing compared to the displays found at super regionals. We've grown into our cyber-Roman theme this season, and Omar is currently working on a logo to match our new color...

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    Building the Fly Wheel Launcher

    Building the Fly Wheel Launcher By Jayesh, Omar, Darshan, Evan, Tycho, and Max

    Task: Create a particle launcher with a higher scoring rate

    The first particle launcher we saw by another FTC team was actually a crude flywheel and rail design back in October where the rail was a cut up PVC elbow. Back then we considered a number of different designs including impact launchers, catapults, flywheel + rail systems and dual flywheel shooters like our sister team built. We decided to go with a catapult design because Max...

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    Fly Wheel 2 - Fly Harder

    Fly Wheel 2 - Fly Harder By Max

    Task: Create a backer rail to guide the particle as it fires

    Our work on the flywheel design has been an effective proof of concept, and now we need to work it in to the rest of the robot. However, just like with the catapult, there’s a couple issues to iron out before all the pieces can start moving in a way that doesn’t make the robot implode.

    Most notably to the 3D modeler in me, I fear that our current...

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    Introducing the New Particle Accelerator

    Introducing the New Particle Accelerator By Max

    I was going to make a Windows 10 joke but then we stopped using the catapult at version 8.

    Task: Design a flywheel for a new system replacing the catapult

    So while our catapult was good, we needed something better. It frequently missed and had other issues due to it being dependent on elastic bands that can lose tension over time. It would occasionally miss balls from areas it would usually be able to shoot from. As well,...

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    Motor Controller Mounts

    Motor Controller Mounts By Ethan, Darshan, Max, and Tycho

    Task: Prevent static shocks to our robot

    Throughout the year, we've dealt with static issues with our robot, as shown here and here. And, now that we've pretty much gotten autonomous and the lift out of the way, the static was our only remaining issue.

    To prevent the static shocks, we needed to isolate the motor controllers and other...

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    Cap Ball Lift

    Cap Ball Lift By Omar, Jayesh, Darshan, Evan, and Max

    Task: Build a lift to try cap-ball scoring

    Although we're confident in our robot's ability to shoot balls and press beacon buttons, we decided that in order to be competitive, we should try to score the cap ball. The lift would have to be strong enough to lift the surprisingly heavy ball, but also not take up too much space. Our robot, as like every year, is very close to the 18 inch size limit in all directions, so we...

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    Mapping Out Autonomous

    Mapping Out Autonomous By Janavi, Tycho, Omar, Evan, and Darshan

    Task: Mapping Out Autonomous

    To tell the robot how far to move forward we had to calculate our motors RPM. We did this by telling the robot move to 10 rotations forward and calculating how far it travelled. After he RPM we created a model field upon which we designed a set path for the robot during autonomous. One path for red and then one for blue....

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    Fixing Faulty Encoder

    Fixing Faulty Encoder By Tycho and Jayesh

    Task: Fix a faulty encoder on our robot

    This shows a test of our encoder issues. It might have been a month ago that we noticed a strange behavior in our autonomous code when the robot was moving forward at low speed. It would curve to the right when we were telling it to go straight. We probably would have noticed the problem...

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    Beginning the build for the Cap Ball Trapper

    Beginning the build for the Cap Ball Trapper By Jayesh and Omar

    Task: Give Deadshot flexibility in end game scoring by designing Cap ball launcher

    One of the issues we saw in Arkansas was in the lack of flexibility we had in terms of the end game. We efficiently scored balls and beacons, but when our teammate for a specific match could do the same, we lost possible points scored. This led us to conclude that a Cap Ball Trapper,...

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    Time to Skip Version 9

    Time to Skip Version 9 By Max

    Task: Make some changes to the catapult bowl

    The apocalypse is at hand.

    Chaos reigns as the world is thrown into peril; whole nations are thrown into anarchy by the second; and the superpowers of the world, once bitter enemies, have no choice but to band together as a horrid product of our own hubris, a threat more devastating than any which mankind has ever before seen, appears to put a grisly end to humanity:

    The catapult bowl is too...

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    Designing Button Pusher

    Designing Button Pusher By Darshan and Omar

    Task: Design potential beacon scoring mechanism

    Up to this point, we hadn't given much attention to a beacon scoring mechanism that we could use in both autonomous and tele-op. At the scrimmage we learned that scoring the beacons was almost vital to winning the match, and we couldn't do that. We rigged up a short u-channel on a plate and attached it to our robot, hoping we could just ram...

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    Robot Frame and Rewiring

    Robot Frame and Rewiring By Jayesh, Omar, and Evan

    Task: Build a frame to increase available surface area on robot to rewire current configuration

    The wiring, which had been on the robot, had been a constant issue. The wiring tangled, interfered with the scoring mechanism, and led to some inefficiencies in electrical output. In order to increase the available space to reconfigure the inner workings of the robot, we built a second testrix layer, which also conveniently serves as a handle.

    Reflections

    The new level...

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    Final Catapult

    Final Catapult By Ethan, Evan, Omar, and Jayesh

    Task: Finish up the catapult before Arkansas

    Today marks six days until Doomsday (AKA Little Home, Arkansas), so we needed to finalize everything. For the catapult, Jayesh and Omar fixed my catapult "fixes". However, with the new fixes, the catapult was more powerful, and required recalibration. To adjust to the new fixes, we removed the old stop-mechanism, and replaced it with a wooden one that stops it on the 2nd level of...

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    Catapult Upgrades

    Catapult Upgrades By Max

    Get Nostradamus on the horn, there’s a new prophet in town.

    Task: Imbue the catapult bowl with infinite power

    As I predicted in the article about the first version of the catapult bowl, it’s gonna need a rework. There’s enough room for the catapult system and the conveyor system to fit together on the robot, but the lip of the bowl is too high for a ball to roll into the slot. This is a tough issue to solve: we’ll have to slice a chunk...

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    Catapult Unfixes

    Catapult Unfixes By Ethan

    Task: To bring the catapult within size limits and improve it

    What Actually Happened: Abject failures

    So, the original catapult, when not stuck, performed pretty well at the scrimmage. However, since we opted not to measure our robot at the scrimmage, we didn't realize that our robot was not within the FTC size limits. When measured after the fact, it was 18x19x20 in x, y, and z axes respectively, due to the catapult's position on the robot. To rectify this, we decided to cut the catapult down,...

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    Intake System Improvements

    Intake System Improvements By Lin and Janavi

    Task: Replace rubber bands with smaller versions and add wider intake area

    New intake area is wider than before


    At the Scrimmage we noticed that the rubber bands would get tangled as they rubbed against the underside of the catapult bowl, and so didn't reach as far down at the bottom. We untangled them before each match but decided to test out the smaller ones when we had the chance at...

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    Parasyte

    Parasyte By Jayesh, Omar, Darshan, Lin, and Max

    Task: Design a collector for the balls

    We've spent the last few practies creating a ball collector. The idea was to have our track with the gripping rubber bands reach from the bottom of the robot to our 3D designed ramp. The path would guide the balls to a higher position on our robot to the launching mechanism. We needed to adjust the correct orientation of the support beams guiding the balls, needing...

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    The Robot is a Nautilus Now

    The Robot is a Nautilus Now By Max

    Task: Make a conveyor shaft to guide particles to the catapult

    We’ve thoroughly proven that the tread of rubber bands is an effective method of ball collection, but as of yet it can only move the balls along the ground. We’ll need a way to move them upwards to the catapult bowl’s level. While we could use another motor to push the particles up and over the belt, it could get caught and we’d rather not take up another motor port. We decided...

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    Launching Mechanisms Pt. 2

    Launching Mechanisms Pt. 2 By Ethan

    Task: To improve upon launching mechanism designs

    Catapult

    First and foremost, we now have one completely functional, terrifying, catapult. The motor mechanism is cannibalized from our sister team's attempt at a catapult, which broke apart on testing.


    Flywheel
    So, while we don't have a functional flywheel as of...
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    Stabilizing Our Driving Base

    Stabilizing Our Driving Base By Jayesh, Omar, Max, and Darshan

    Task: Stablize Meccanum wheel base so the driving is more stable and consistent

    Our Meccanum wheel base idea started off on a shaky note. While we had a good amount of success in the tass we wanted to complete, like driving right or let without turning the entire robot, including the basic driving functions. However, as we went on with testing, we found that over time, the force the meccanum wheels...

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    Ready the Artillery

    Ready the Artillery By Max

    Task: Design a bowl for our upcoming catapult system

    We've been experimenting with catapult systems for a little while now, but we're still sorely lacking one of the core ingredients of any catapult system: the ability to throw things. I mean, technically we're lacking the ability to hold what we're trying to throw, but it's the same effect.

    In any case, it's an issue we have to deal with, and our solution is good ol' nylon. I went through a few designs for a...

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    Launching Mechanisms

    Launching Mechanisms By Ethan

    Task: To build a launching mechanism for the particles

    For the 2016-2017 season, particle scoring is really important. During autonomous, balls that are launched into the center vortex earn 15 points each, and balls that are launched into the center vortex earn 5 points. If done quickly enough, the particle scoring can negate most of the advantages another team has - just 8 particles scored during the driver-controlled period is equivalent to scoring all 4 beacons. With a good scoring mechanism, the only thing that your team...

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    Need for ZTE Speed - The Movie - The Game

    Need for ZTE Speed - The Movie - The Game By Max

    Task: Make a case for the ZTE Speed controlling the robot

    While we are still in the early stages of design and it's not wise to make a permanent decision about where the robot's controlling phone will be, we can't let it float freely around the robot like a brain in a jar for much longer or it'll start getting caught in the developing systems. Normally, we could solve this easily by drilling a few holes in an off-the-shelf...

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    Building the Robot Base

    Building the Robot Base By Jayesh, Omar, and Darshan

    Task: Design and test implementation of a driving base

    We have spent the last few practices formulating a new driving base for our robot this year. We went through various possibilities: tank-based drive using both tracks and the omni-regular system (both of which are systems that we have utilized in previous years). However, both systems showed inefficiencies with this year's competition. We decided to go to a system using mainly Mecanum...

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    Geb Fixes and Adjustments

    Geb Fixes and Adjustments By Jayesh, Omar, and Lin

    Task: Prepare Geb for competition and get it into running condition

    With all of the large projects and events that Iron Reign have been commiting to (with more still to come), we have unfortunately been neglecting Geb and as we came to find a few weeks ago, many of the running parts that give us the majority of points in competition were falling in disrepair. We found that the tape measure system...

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    New tread material test

    New tread material test By Lin, Tycho, Max, and Evan

    Task: Initial tests for new tread material

    The standard Tetrix treads and tread inserts aren't nearly as sturdy as we would like. When they snap it's a real effort to put back together stretched over the idlers, and the inserts peel apart, bringing our traction down. The new material is a rubber conveyor belt material from Andymark, and the underside track chain is 3D printed in nylon to mesh with the...

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    Sumobot Tips and Tricks

    Sumobot Tips and Tricks By Tycho

    Let's assume you are building a LEGO Mindstorms or Vex IQ based Sumobot, but you want to skip some of the basic mistakes beginners will make. Here are some tips and tricks.

    • Know the rules. It's silly to get disqualified because you didn't pay attention to the rules. Know the size and weight limits. Know the allowed construction materials and techniques. Know the startup behaviors. For example, your robot must not move...
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    Fixing Up Our Climber and Trough Attachments

    Fixing Up Our Climber and Trough Attachments By Jayesh, Max, and Omar

    Task: Replace servo on CliffHanger with a motor

    At both competitions we've been to so far, we've noticed that the servo that controls the cliff hanger's elevation often stresses and heats up due to the strain being put on it, especially near the end of the match. It has already scorched quite a few of our fingers. To remedy this, we decided to replace it with a...

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    Pushing my Buttons

    Pushing my Buttons By Ethan and Max

    Task: To build a button-pusher for the beacon

    Today, we realized that the tape-measure attachment that's supposed to push the buttons on the beacon could have multiple functions instead So, we designed an attachment to the tape measure that can push any buttons, including people's. Max designed it in PTC and then printed it. We have yet to actually test it on the robot, but it works in-hand.

    Reflections

    This is just our first design, and it has not...

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    The Double-Wide Experiment

    The Double-Wide Experiment By Jayesh, Max, Dylan, and Evan

    Task: Strengthen our tape-measure climber against folding and sideways forces

    Our tape measure is constantly under stress, which usually isn't a big problem if the driver is positioned with a straight 90 degree angle, but when twisted can result in cracks.

    While our tape-measure design worked decently at our competition last week, with multiple mid zone scores and one high zone score, we are going to need more consistency to be a valuable ally in our matches. At...

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    Conveyor belt

    Conveyor belt By Jayesh, Max, and Darshan

    Task: Create continuous method of scoring blocks

    Since we have a semi-reliable form of going up the ramp (which we are working on to make closer to 100% efficiency), a priority for our team robot-wise is to establish an effective method of scoring blocks. We've designed a preliminary model with our old plastic trough that uses a conveyor belt made of fabric and foam sewn together that we tried to use before but decided not to. The foamy...

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    Tape Measure Attachment

    Cliff Hanger - Tape measure based climber By Trace and Max

    Task: Creating an attachment to climb the mountain


    We have recently been working on a new approach to climbing the mountain. Our strategy so far was to have one system customized for climbing the mid and upper mountain (Churro Climber), and a separate system for climbing the cliff (Crossbow Grapple). The Churro climber system was beginning to work but it was floppy and we were thinking about stiffening the nylon extensions with...

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    Prototyping and Making the Flipper

    Prototyping and Making the Flipper By Jayesh, Omar, Darshan

    Task: Design an apparatus to deposit the climbers in the beacon bucket.

    One of the methods to score in this year's competition is depositing the two climbers in the bucket behind the beacon. This being relatively simple, we decided to concentrate this practice on creating something to get us these easy points. We discussed possible ways to deposit the climbers and came up with a design that used some of the scoring mechanism we already had on our robot. The idea was to...

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    Rebuilding the Churro Climber System

    Rebuilding the Churro Climber System By Omar, Darshan, Max

    Task: Fix bending axle on churro climber permanently

    After further testing of the churro climbers, we noticed that the axle the gear is rotating on had been bent severely due to the strain on it of the arms pulling. If we left the axle as it was, it might wreck something else later and become unusable, so we tried to figure out a way of creating something that served the same function as the axle but wouldn't bend as easily. We decided...

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    Slide Lock

    Slide Lock By Max

    Task: Model a part to keep the slide from going too far forward

    Since we mounted the beater bars on a slide, we have been keeping them from going too far and falling off their rails either by obstructing them with a couple of bolts or with a bent piece of steel wire, but neither method is fool proof. The wire can get bent out of shape as the slide moves forward and collides with it, and...

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    Climber Restraint

    Climber Restraint By Max

    Task: Model a part to keep the churro climber cable ties on path

    As we continued to work on the churro climber mechanism today, we decided that the cable ties bowing out would be a big issue that needed fixing. By making a small guide piece, we could ensure that the cable tie actually extends from the front of the robot instead of flopping around like overcooked spaghetti on the other side. So, I've made a rather...

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    Improvements to Churro Catcher and Ramp

    Improvements to Churro Catcher and Ramp By Jayesh, Lin, Omar

    Task: Make improvements to Churro Catcher and Ramp and make blog more accessible

    Iron Reign held our first of two meetings before the New Year season to concentrate on improving our main designs to ensure they worked as expected. Starting with our Churro Catcher, we found that as the motor moved the two arms down, the tension in the two churro climbers was two low to actually push out the latches forward from the robot. We built two small metal segments...

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    Optimizing the Churro Catcher

    Optimizing the Churro Catcher By Jayesh, Omar, Darshan

    Task: Improve and fix our Churro Catcher + finalize design for trough

    The team met up on Sunday and we focused our meeting on finalizing our trough design and making our churro catchers usable. Beginning with our trough prototype, we put in an angled metal piece to the main box compartment and shortened the height of the box. This height was specific to the height of the blocks, allowing us to shave off blocks that become stacked upon those that we've already collected and...

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    Churro Hook

    Churro Hook By Max

    Task: Model a part to help the robot climb the churros on the mountains

    Most of the big-value items in terms of points have to do with the mountains, so climbing mechanisms are a must have. Since the tank treads have problems scaling the churros on the middle and upper mountains, we need another way to pull the robot higher. Our solution was to put hooks on the ends of long, heavy-duty cable ties that we could...

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    Prototyping the Trough

    Prototyping the Trough By Jayesh, Omar, Darshan

    Task: Prototype the trough using materials such as cardboard to give us a baseline

    '

    The team had a meet before the busy Christmas period to focus on the main part of of our scoring mechanism: the trough. We discussed possible courses that would be easiest for us to score points and code at the same time. We went through multiple ideas of how the trough would work. One idea was to have our trough consist of rotatable base to account for...

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    Improving the Catcher Design

    Improving the Catcher Design By Dylan, Darshan, Omar, Jayesh, Evan, Alisa

    Task: Add Improvements to the Catcher Design

    Today our team worked on improving the methods of capturing and holding blocks and balls. Our first design involving zip ties had major difficulties including that it had little strength to pull objects in. For this reason, we redesigned the beater bar using a 3-D printer that had stronger materials to capture materials along with frictionless tape which did not cause the blocks to become stuck. Through our tests we can see that...

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    Slide Trigger

    Slide Trigger By Max

    Task: Model a part that lets us hold back the slide with a trigger to release it

    The beater bar mechanism was put on a slide so that we could restrain it until some point during the match, but we had yet to actually build a restraint and trigger to serve this purpose until now. Since the mechanism would likely include rubbing pieces and need customized parts, we chose to model and 3D print the part in...

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    Thinking about Effort

    Thinking about Effort by Omar

    Task: Think about our robot's design both for now and for the future


    Today, I decided to list our different options when it comes to design and on how much effort they would take on a numerical scale from 0 to 7. 0 means no effort would be needed at all (none of our options are currently here), and 7 means that the option is almost not practical based on the work we'd need to put in, but would be a huge benefit on our...

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    Design and prototype a churro latch mechanism

    Design and prototype a churro latch mechanism By Lin, Darshan

    Task: Design an alternative churro climber mechanism

    Currently Max and Tycho are working on a beater bar 3D part that is stiff enough to pull in blocks, and will hopefully double as a churro catcher when spinning. However, since the parts take 4 hours per set to print, and are harder to rapid-fire test and change and tweak relative to some other options we're going for other options till they're tested. The churro catchers help us to secure holding up the ramp but...

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    Prototyping the ramp for the intake system

    Prototyping the ramp for the intake system By Jayesh, Omar, Ethan, Evan

    Task: Make a physical prototype to plan out the next step in our ball/block intake system

    We held a post-Thanksgiving meet to focus on the mechanical side of our robot, as we had been devoting a majority of our time to software and other such things. The problem we faced with our beater bar being installed on two sliding extrusions is that we had to have an incline adjusted to going up two levels and not...

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    Hell On Reels

    Hell On Reels By Max

    Task: Make a prototype grappling hook of doom.

    As the point values make clear, managing to get the robot to hang on the end of the "cliff" is likely worth the effort. As such, we've worked on making a strange grappling-hook type contraption to pull the robot up. This first version works rather like a crossbow. A telescoping fishing pole has its largest loop hooked up to a long "bolt" which extends beyond the pole to a bungee cord tied to a pair of arms on...

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    Autonomous Code

    Autonomous Coding By Dylan and Tycho

    Task: Updating and Working on Autonomous Code

    Today we continued working on the code involved for the first ten seconds of motion in the tournament known as autonomous. In this period we hope to reach the other side of the field towards the Res-Q beacon to dump our figures from the beginning and then trying to go as high as we can up the mountain. We coded this using our IronDem and the Pose classes to calculate the range and angle of our current...

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    Bumper Shields

    Bumper Shields By Ethan and Evan

    Task: To create bumper shields for the robot.

    We needed to create bumper shields because the debris on the field interfered with the tread. We had a prototype on the left,
    Evan and I cut the bumper shields out of polycarbonate with two made for the front and two for the back. To do this, we were trained how to use a bandsaw. We cut them down so that they will be moveable.

    Reflections

    Evan and I will attach the bumpers,...

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    Meeting other Teams at the Scrimmage

    Meeting other Teams at the Scrimmage By Lin, Omar, Darshan, Jayesh, Tycho, Max, Evan

    Task: Get a feel for where we are and the progress of other teams

    Whether or not we were allowed to compete, we felt that it would be worthwhile to go to the scrimmage, if only to see how we compared to other teams. Climbing the mountain is the hardest mechanical design challenge so far, and we were able to see their solutions.

    Reflections

    Many teams had treads like ours, with different arrangements of idlers, while...

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    Addition of Beater Bar to Robot

    Addition of Beater Bar to Robot By Omar, Ethan, Darshan, Lin

    Task: Fix and alter robot to include sliding beater bar

    Since the robot's last run, several fixes and adjustments had to be made in order to make the robot operational again. All we had to do was tighten a couple of bolts, so it wasn't that big of a deal. We'll probably have to do a quick check from now on to make sure nothing's falling off. Afterward, we set to using the same beater bar we used last year (the first...

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    Rocker Boogie Tank

    Rocker Boogie Tank By Trace

    Task: Design and build a basic rocker boogie tank

    A few weeks back, I designed a new chassis. It was a combination of the rocker bogey and a tank to make the rocker boogie tank! With the advantage of sturdiness from a tank and the ability to adjust to surfaces from the rocker boogie. This combination is unstoppable!!!

    Reflections

    The task proved to be easy (just added tank treads to a rocker boogie) but worked. After I tested the prototype on a number of surfaces, it...

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    Gyro-IMU Case V2

    IMU Case V2 By Tycho

    Task: Improve our 3D Printable case for the Adafruit BNO055 IMU

    Last week I designed a case for our IMU sensor in Creo and wrote up how it could be improved. I've fixed most of those issues and we are ready to share the results. There is one version with Tetrix hole spacing and another that works for Actobotics channels. Either can be used with aluminum extrusions though you might have to drill out the mounting holes depending on your bolt size.

    You can...

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    Gyro-IMU Case

    IMU Case By Tycho

    Task: Make a 3D Printable case for the Adafruit BNO055 IMU

    We're used to having gyros to help maintain heading, but we've never been fans of the Hitechnic gyro sensor. Now we have more options and the BNO055 looks pretty good. But our testing has been off robot so far and we need a way to securely attach the sensor to our robot which bounces around like crazy when climbing the mountains. So in PTC Creo, I'm designing a 3D printable case for this sensor that we...

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    Arrangement and Rearrangement of Motor Controllers

    Arrangement and Rearrangement of Motor Controllers By Omar, Darshan

    Task: Find better configuration of motor/servo controllers and power distribution module on the robot

    Today, we tried to figure out the best possible way to stick all the motor controllers and the PDM together to minimize the amount of space they take up on the robot. Fitting the finished product into the gap on the back end of our robot would also be a bonus. We had previously thought of one way of doing it: When placed on the robot,...

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    Circle Time

    Circle Time By Jayesh, Ethan, Omar, Darshan, Evan

    Task:Discuss multiple possible solutions to climb steep incline on field

    We held a team meeting outside on the field discussing multiple possible solutions to the problem of the robot ascending to the top of the ramp. While we are already able to climb the ramp, the robot strafes significantly as it climbs above each rung on the ramp. This can be accounted for during the driver-controlled period, but the strafing can't be accounted for during autonomous, unless we have each side of the...

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    Post Kickoff

    Post Kickoff By Jayesh, Omar, Lin, Ethan, Alisa, Evan, Max, Tycho

    Task: Build FTC field and begin tank tread mirror side

    After the 2015 kickoff, Iron Reign conducted a meeting to construct our game field and also construct our mirror side for the tank treads. Taking turns on placing the grips on our treads, we managed to get a good portion of the grips placed as well. Construction of the field also commenced and the majority of the field is finished, providing an important recource for us in testing the robot for competition....

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    I hate tread inserts

    I Hate Tread Inserts By Omar

    Task: Insert grips into alternating treads to boost traction of driving system

    I am so done with these treads. For the past three hours I have worked to soak the treads and tread inserts in dish soap. *takes deep breath* The process is painstakingly slow and also literally painful. The process itself seems simple but after soaking both pieces the insert must be pushed in with a considerable amount of force. This is not user friendly and is not what the company...

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    Tank Drive Model

    Tank Drive Model By Tycho

    Task: Design a new build platform more suited to this year's challenge

    Since the robot game for this year came out about a week ago, we were thinking about which kind of drive system would work best for the challenge, which mostly involves climbing. Some of the concept we came up with were rocker bogies, rubber-banded tires and a tank drive with treads. Since we already had the preliminary design started for a tank drive, I started modeling that.

    Reflections

    ...

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    Meeting After Game Reveal

    Meeting After Game Reveal By Dylan, Darshan, Alisa, Ethan, Evan, Lin, Tycho, Max, Trace

    Task: Discuss robot design

    Now that the game has been released, we as a group discussed the different amount of points per each possible game strategy that would give us the most ample amount of points during the given time limit. We also discussed the different ideas on the tracks and wheels that are possible for our design. The arm attachment was discussed for the grabbing of the highest mount of the mountain which would give us the...

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    Designing Drive Trains

    Designing Drive Trains By Tycho

    Task: Create preliminary designs for a new robot using a new build platform

    After we got the new mechanum wheels, I had to start thinking about a new design that would be able to use them.

    Reflections

    Not much progress was done on the design based on the mecanum wheels, but I remade part of the design based on our old robot from previous years. We will build one robot based on our proven omniwheel-drivewheel-omniwheel nacelle design, only...

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    Back To Creo

    Back To Creo By Tycho

    Task: Create preliminary designs for a new robot using a new build platform

    Today I started making new designs for a competition robot based on extrusions and the new software platform.

    Reflections

    I decided to make two different possible designs, one based on our robot that we had used for the past few years with 1 regular wheel on each side in between two omni wheels, and another based on our sister team's newer platform, which had one standard wheel on each corner. After...

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