Tropicus CENTERSTAGE Robot Reveal
Вставка
- Опубліковано 8 жов 2023
- This is a concept robot I put together to play the 2023-2024 FTC CENTERSTAGE game challenge. It is designed to pick up pixels from the floor and place them on the Backdrop. It was initially planned to have a winch and a detachable hook but I ran out of control channels on the microcontroller when I needed to add the claw deploy mechanism.
Drivetrain: AndyMark MecanAM drive with 4" BB mecanum wheels and NR Bevel gearboxes to mount the motors between the wheels.
Intake: AM Compliant wheel intake with the rims removed. The front has 2 counter rotating rollers that feed a conveyor. The back has a pair of rollers that move the pixels to the front intake.
Conveyor: Urethane belts that raise the pixels up and drops them in the front pocket.
Claw: Servo claw that holds 2 pixels end to end
Claw Deploy: A servo driven 4 bar linkage that extends the claw away from the robot and up against the Backdrop. This was added as the elevator moving parallel to the Backdrop couldn't get the pixel horizontally close enough.
Lift: a pair of AndyMark 3 Stage Compact Linear Slides mounted to face each other. Only 1 set was strung up with cable and driven by a 14:1 motor.
Overall, the intake geometry isn't optimised and transition from flat on the ground to going up the conveyor is a little rough. The system definitely could use some sensors to know when it has acquired the pixels as well as inform the driver what colors are in what order. Additionally, the back set of rollers should be on a higher reduction motor than the 4:1 that's currently there.
The intake speed is definitely the slow down in this robot and the inability to climb or launch the drone would definitely hold it back if it were used in competition.
Music is Sam Day - Nebraska (With You) NCS Copyright Free Music - Наука та технологія
I would love to have a more in depth look into the intake it really is a beautiful mechanism the way it picks up pixels is so seamless!
There are some pictures here --> imgur.com/a/dX4Fzl1
crazy good robot!!
lol you guys have a similar design to us but are way further along than we are so far
Hello! We saw your robot and we were amazed by it! We are wondering if you guys could share your CAD of the robot, please?
Hey is there any chance we can get the cad files for this robot it looks awesome and we’d love it if we could use some ideas from it
Please ^^^
Holy cow! How did you build this?! It is so cool.
Tools. 3d printers and a cnc.
Thanks, which ones?
And a whole lot of effort in sure
@@PeytonYeung Could you link the 3d print files?
What retraction mechanism do you use to guide the cables being used for the slide. It almost looks like one for a lanyard
It's a badge/key retractor from the office supply store. They're pretty common and work well at managing cables.
@@PeytonYeungClever idea. I've seen tape measures, not necessarily for cables, as retracting devices on robots as well.
could you give us a basic concept of the intake?
The underside view at 1:22 should help. The side near the ground has 2 sets of wheels that both pull the pixel to the claw side. The side with the claw has 2 counter rotating sets wheels of wheels. The flaps push the pixel into the wheels on the counter rotating shaft and the pixel is forced up into the conveyor. This raises it up until the conveyor path runs out and the pixel falls into the pocket. There are some pictures here --> imgur.com/a/dX4Fzl1
How are you going to place pixel on spike mark during autonomous period?
This robot isn't going to compete so it won't need to. I think if it were going to attempt that task, it would have a pixel between the floor and intake roller and reverse the roller to move the pixel onto the mark.
How do you guys plan on intaking the stacks in auto?
Not planning on it but it can knock the stack over and pick them up off the floor.
how do you create those linear slides and would you be willing to share the cad file for the claw outtake thingy?
I’m trying to learn linear slides too! My team is all new, so we are slowly and surely figuring things out.
They are AndyMark 3 Stage Compact Linear Slides mounted to face inward. I have a few pictures posted here -> imgur.com/a/dX4Fzl1
@@PeytonYeung Thank you. I will look into that. I need all the help I can get!
@@PeytonYeungwhat is the grippy material that you use on both sides of your claw?
@@Dg47PRO Weather strip tape. Menards SKU: 4366364
I loved this sistem but i have a question. what is the touth wheels material?
All the wheels are AndyMark 35A compliant wheels made of TPU. These were made before the Compliant Star was released.
How dose your team score pixels and make mosaics efficiently with your mechanism
I think most team's focus early on is to place all of 1 color on each side to get mosaics and then just fill the rest of the board with white pixels to avoid descoring a mosaic.
Hey, I would love to know what chasis you guys are using.
It's the mecanAM chassis from AndyMark with NR bevel boxes installed between the wheels.
Are those the official vex robotics mecanum wheels?
Nope, they are the BB mecanum wheels from AndyMark.
where did you get the conveyor belt in the mechanism?
We had it leftover from a while ago but it's similar to www.mcmaster.com/6075K15/
Thank you so much
How are you going to hang or throw your drone.
Currently there are no plans to do either. Initially, it was going to use the blue part on the back of the lift to deposit a hook and use a winch and cable to elevate off the floor. The need to add a mechanism to move the claw out to the Backdrop took the last control channel on my microcontroller so I couldn't climb. This robot will never compete so there isn't a need for it to do everything.
@@PeytonYeungok
Why you gotta have all the cool stuff covered that's no fun, amazing bot tho
To hide all the messy wiring, of course.
Only the best wiring (is what electrical tells themselves lol)
Hey, I love your robot, but there is a slight issue with it. As you know, we only have 2 minutes and 30 seconds to place the hexagons. The 30 seconds are for your robot to work by itself. You can’t touch the control. The two minutes are for driver to do their work. With the ladder system you made, it will take quite a while to place the hexagons and grab the others. Your grabbing system is amazing, though! It collects it very fast!