RoboJackets Wiki - User contributions [en]

File:Tapdrillchart.jpeg

2017-05-09T20:22:44Z

Dsloan:

3lbers

2017-05-09T20:14:35Z

Dsloan: /* Key Design Considerations */

= Common Bot Types =

=== Drum Spinner ===

[[Radii]], [[Misti]]

A robot whose weapon is a spinning drum with teeth at the front of the robot. Typically, Drum spinners are invertible.

=== Ring Spinner ===

[[Qti]], [[Smitti Werbenjagermanjensen]]

A robot whose weapon is a spinning ring with teeth that surrounds the entire frame. Generally has bearings which support the ring as it spins.

Pros
* Invertible
* Hits from every side
Cons
* Difficult to make a reliable weapon drive and support system

=== Shell Spinner ===

A robot with a spinning "shell" that encompasses the robot. Similar to a ring spinner, the shell has teeth on it which serve as the weapon. They are easier to make than ring spinner however cannot be made invertible.
=== Vertical Spinner ===

[[Dat Boi]]

A robot with a vertically spinning weapon at the front of the robot. Typically this weapon is complemented by a surrounding wedge to lift opponents into the weapon.
=== Horizontal Spinner ===
[[Schwifti]], [[Ki]]

A robot armed with a flat spinning bar at the front driven with a pulley.

= Key Design Considerations =
A useful guide to screws can be found [https://wiki.robojackets.org/index.php?title=How_to_Guide_Selecting_Right_Hole_Size here].

== Drive Train ==

=== Speed and Torque ===
A typical 3lber can move around 50-100 in/s. Usually gear ratios necessary to achieve these speeds can supply more than enough torque to allow the robot to push opponents around the arena.

=== Ground Clearance ===
A problem most 3lbers have is being too close to the ground. Debris and uneven arena floor can easily get underneith the robot, propping the wheels off the ground and preventing movement. While considered beneficial for preventing wedges from getting underneath the bot, the loss in control due to low clearance usually nullifies this benefit. It is far better to have a highly mobile bot with high clearance, greater than 0.375" from bottom plate to ground.

== Weapon ==

=== Weapon Drive ===
Typical weapon drive employs a belt and pulley drive train. A rubber or urethane belt runs between a motor with a pulley, and a pulley on the weapon. When using a brushless out-runner motor, the outer can of the motor can be used as a pulley directly, but requires guides to prevent the belt from sliding up or down the motor. Direct drive weapons, where the motor shaft is directly connected to the weapon, is highly discouraged, as the shock from weapon hits can shatter the motor magnets, breaking the motor entirely.

Common motor specs at this scale:
* Power: 500-800W
* Voltage: 11.1 (3s) - 14.8 (4s)
* KV: Depends on weapon type. Small spinners such as drums, disks, and bars, aim for weapon speeds greater than 8000RPM. Large spinners such as ring and shell spinners are in the 2000-5000RPM range

=== Weapon Material ===
Weapons are usually built from aluminum (6061) and mild steel. Large weapons such as drums and ring spinners employ an aluminum frame with steel teeth. Smaller weapons such as bars and disks can be made entirely from steel. It is critical that steel be used for the part of the weapon that comes in contact with other bots, as aluminum is too soft and deforms on direct impact. Toolsteel teeth may be used however it must be fully heat treated after machining to be effective. It is also quite expensive and usually not worth it.

It is important to run FEA on the weapon design, as it will highlight key points of failure. Typical forces a weapon experiences at this scale ranges between 300-600lbs.

== Calculations ==
Here are some common calculations used to find things such as weapon speed, drive speed, pushing force, and power requirements.

RPM = V*KV

ω = RPM *2π/60

v = ω*r

P = ω * τ

α = τ*J

F = τ*r

T = ω/α *0.63

t = T*3

ωoutput = ωinput * e

τoutput = τinput / e

P: Power (Watts)

RPM: Rotations per Minute

KV: RPM/Volt

V: Voltage

ω = Angular Velocity (rad/s)

α = Angular Acceleration (rad/s2)

τ = Torque (N-m)

J = Mass moment of inertia (N-m2)

F = Force (N)

T = Time Constant (s)

t = Spinup time to reach 98% max RPM (s)

r = Wheel/pulley radius (m)

v = Tangential velocity (m/s)

e = Gear Ratio (Drive gear/Driven gear)

NOTE: It is typically easiest to use si units for calculations then convert to imperial later.

[http://www.riobotz.com.br/riobotz_combot_tutorial.pdf]

Mandi

2017-05-04T02:27:34Z

Dsloan:

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Mandi
|-
! scope="row" colspan="2" | [[File:Mandii2.jpg|frameless|right|480x360px|DrumRoll, please]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2010-2011}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|2.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2012-2013}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|MiddleWeight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Drum Spinner}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|3/4}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|{"Temporary")}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|}

= Competitions =

=== RoboGames 2017 ===
* Results
** [https://www.youtube.com/watch?v=JUffCGoJ4kk Loss vs. Cat Kong]
** [https://www.youtube.com/watch?v=BAYflYm80sQ Win vs. Houston]
** [https://www.youtube.com/watch?v=yPc6X6ShpKE Loss vs. Nighthawk]

=== [[RoboGames 2015|RoboGames 2015]] ===
*Results:
**[https://www.youtube.com/watch?v=WX6HXlt14z4 Victory vs Heavy Metal]
**[https://www.youtube.com/watch?v=GLLhz1FLHmQ Loss vs Touro Classic]

=== RoboGames 2013 ===

*Results
**[https://www.youtube.com/watch?v=aMW-srAq4i0 Victory vs Witch Doctor]
***Mandii was initially knocked around and flipped over by the opponent
***Opponent hits Mandii's weapon, flipped itself over as a result, and tried to tackle Mandii
***This collision disabled the opponent's weapon/only means of movement
***Opponent spewed smoke
**[https://www.youtube.com/watch?v=g_Rbv6S2_18 Victory vs MPV]
***Opponent had no visible weapon/movement mechanism
***Opponent was obliterated on 2nd contact by Mandii
***Mandii sustained no visible damage
**[https://www.youtube.com/watch?v=9ZJHFHIC3Mc Loss vs The Blender]
***Mandii attacked frequently, but was pushed aside by the opponent's shell
***Mandii is then viciously attacked by the enemy
***Eventually, Mandii is disabled due to the damage sustained

=== RoboGames 2012 ===
*Results
**[https://www.youtube.com/watch?v=TVaYqNl22xQ Loss vs Wolverine]
***Constant to-and-fro hits
***Mandi was visibly damaged, while the opponent was not
***Loss due to judge's decision

= Versions =

== Mandi (V1.0) ==
Undocumented

== Mandii (V2.0) ==

Created by: ______

{| border="1" cellspacing="1" cellpadding="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| AmpFlow A28-150
|-
| Drive Motor Controllers
| Victor 885
|-
| Weapon Motor
| AmpFlow A28-400
|-
| Weapon Motor Controllers
| 
|-
| Receiver
| 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 
|-
| (OTHER:)
| (OTHER:) 
|}

==== Problems ====
* Side Aluminum Armor Caved onto wheel from large hit. Prevented Drive
* Live Weapon Shaft
** Deflected from hits
* Needle bearings supporting drum axle shattered
* Drum completely cracked through
* Plastic Skids Ripped off in fight
* Drum Teeth sheared off

==== Good aspects ====

==== Changes/Improvements ====

== Mandiii (V3.0) ==
Created by: Chelsea Silberglied, Trenton Charlson, Dustin Sloan

{| border="1" cellspacing="1" cellpadding="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| AmpFlow A28-150
|-
| Drive Motor Controllers
| [http://www.robotpower.com/products/vyper_info.html Vyper]
|-
| Weapon Motor
|[http://www.castlecreations.com/en/1-5th-scale-vehicles/2028-extreme-800kv-motor-060-0054-00 Castle Creations 2028 Extreme]
|-
| Weapon Motor Controllers
| [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]
|-
| Receiver
| Hobbyking V2
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2
|-
| Battery
| [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]
2 in series for weapon

1 for drive
|-
| Armor
| 2"x4" HDPE Bar Stock 3/16" 6061 AL Plate
|}

==== Problems ====
* Low Clearance 0.5". Armor same height off ground as arena lip, got stuck on edge.
* Small Wheels (5"), Need to be large
* Difficult to service, required complete disassembly to replace belts and drum bearings.
* Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.
* Transmitter broke during competition. Used Hobbyking $20 Transmitter.
* 3D Printed Electronics Mount Broke
* Need Fastblow Fuse <300A
* Front Plate Fracture at screw interface with side plates, due to <0.125" material at bolt hole
* Weapon Bearings not checked after each match
** One shattered during first match, still spun but quickly seized
* Drum bolt circle was not machined properly, drums canted.
* Large flat area on rear armor, got caught on arena edge
* Underweight (113 lbs)

==== Good aspects ====
* Reliable Drum
** Spun up fast, <4 seconds
** Drum in 2 pieces, 10 0.3125" Alloy Steel dowel pins
** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle
** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance
** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture
** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck
* Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push > 130lb person on tile floor.
* All wheel drive, 4 Wheels
* Stable Drive Control, robot went straight and could turn appropriately
* Good Speed: 13.6 mph, 912RPM 5" Wheel
* Zip Tied and Electrical Taped all electronic connectors
* Armor absorbed hits well
** Almost no significant damage to main frame
** Aluminum dented and sheared
** HPDE plastically deformed
** Multiple replaceable sets (2.5 Sets)
** Sheet Metal Screws, self tapping into plastic
* Tolerances
** Parts fit together well. Waterjetted jigsaw fits had 0.008" under sizing to interface smoothly
** Dial Indicated large parts on mill
** Custom Grooving Tool for pulley V-belt groove
* Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)
* External chain on drive easily serviceable
* Electronics properly spec'd. Did not burn an ESC

==== Changes/Improvements ====
* Larger wheels for ground clearance, 6" instead of 5"
** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels
** Make hub go all the way through wheel (not 2 separate inserts)
* Properly machined drum so that dowel circles line up
* Larger Drum to utilize extra weight
* Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts
** Smaller weapon pulley required to accommodate hole
* Steel Pulley, not Aluminum
* No vertical holes in front plate
* Larger skids for larger wheels/drum
* Extra 2 Skids further back on side plates, redundancy in case front skids shear
* Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate
** Insert attached to side plate to hold in place
** Pocket armor to compensate for space
* Smaller Rear Armor
** Make same profile as side armor
* More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450])
** More Torque, faster spinup and smaller weapon pulley needed due to less gearing
* Brighter LEDs on top plate

== See also ==

== Notes: ==

Successor to [[Soafi|Soafi]] 

Built by _____
[[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:MiddleWeights]]

Mandi

2017-05-04T02:26:33Z

Dsloan: /* Problems */

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Mandi
|-
! scope="row" colspan="2" | [[File:Mandii2.jpg|frameless|right|480x360px|DrumRoll, please]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2010-2011}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|2.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2012-2013}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|MiddleWeight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Drum Spinner}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|3/4}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|{"Temporary")}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|}

= Competitions =

=== RoboGames 2017 ===
* Results
** [https://www.youtube.com/watch?v=JUffCGoJ4kk Loss vs. Cat Kong]
** [https://www.youtube.com/watch?v=BAYflYm80sQ Win vs. Houston]
** [https://www.youtube.com/watch?v=yPc6X6ShpKE Loss vs. Nighthawk]

=== [[RoboGames 2015|RoboGames 2015]] ===
*Results:
**[https://www.youtube.com/watch?v=WX6HXlt14z4 Victory vs Heavy Metal]
**[https://www.youtube.com/watch?v=GLLhz1FLHmQ Loss vs Touro Classic]

=== RoboGames 2013 ===

*Results
**[https://www.youtube.com/watch?v=aMW-srAq4i0 Victory vs Witch Doctor]
***Mandii was initially knocked around and flipped over by the opponent
***Opponent hits Mandii's weapon, flipped itself over as a result, and tried to tackle Mandii
***This collision disabled the opponent's weapon/only means of movement
***Opponent spewed smoke
**[https://www.youtube.com/watch?v=g_Rbv6S2_18 Victory vs MPV]
***Opponent had no visible weapon/movement mechanism
***Opponent was obliterated on 2nd contact by Mandii
***Mandii sustained no visible damage
**[https://www.youtube.com/watch?v=9ZJHFHIC3Mc Loss vs The Blender]
***Mandii attacked frequently, but was pushed aside by the opponent's shell
***Mandii is then viciously attacked by the enemy
***Eventually, Mandii is disabled due to the damage sustained

=== RoboGames 2012 ===
*Results
**[https://www.youtube.com/watch?v=TVaYqNl22xQ Loss vs Wolverine]
***Constant to-and-fro hits
***Mandi was visibly damaged, while the opponent was not
***Loss due to judge's decision

= Versions =

== Mandi (V1.0) ==
Undocumented

== Mandii (V2.0) ==

Created by: ______

{| border="1" cellspacing="1" cellpadding="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| AmpFlow A28-150
|-
| Drive Motor Controllers
| Victor 885
|-
| Weapon Motor
| AmpFlow A28-400
|-
| Weapon Motor Controllers
| 
|-
| Receiver
| 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 
|-
| (OTHER:)
| (OTHER:) 
|}

==== Problems ====
* Side Aluminum Armor Caved onto wheel from large hit. Prevented Drive
* Live Weapon Shaft
** Deflected from hits
* Needle bearings supporting drum axle shattered
* Drum completely cracked through
* Plastic Skids Ripped off in fight
* Drum Teeth sheared off

==== Good aspects ====

==== Changes/Improvements ====

== Mandiii (V3.0) ==
Created by: Chelsea Silberglied, Trenton Charlson, Dustin Sloan

{| border="1" cellspacing="1" cellpadding="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| AmpFlow A28-150
|-
| Drive Motor Controllers
| [http://www.robotpower.com/products/vyper_info.html Vyper]
|-
| Weapon Motor
|[http://www.castlecreations.com/en/1-5th-scale-vehicles/2028-extreme-800kv-motor-060-0054-00 Castle Creations 2028 Extreme]
|-
| Weapon Motor Controllers
| [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]
|-
| Receiver
| Hobbyking V2
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2
|-
| Battery
| [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]
2 in series for weapon

1 for drive
|-
| Armor
| 2"x4" HDPE Bar Stock 3/16" 6061 AL Plate
|}

==== Problems ====
* Low Clearance 0.5". Armor same height off ground as arena lip, got stuck on edge.
* Small Wheels (5"), Need to be large
* Difficult to service, required complete disassembly to replace belts and drum bearings.
* Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.
* Transmitter broke during competition. Used Hobbyking $20 Transmitter.
* 3D Printed Electronics Mount Broke
* Need Fastblow Fuse <300A
* Front Plate Fracture at screw interface with side plates, due to <0.125" material at bolt hole
* Weapon Bearings not checked after each match
** One shattered during first match, still spun but quickly seized
* Drum bolt circle was not machined properly, drums canted.
* Large flat area on rear armor, got caught on arena edge
* Underweight (113 lbs)

==== Good aspects ====
* Reliable Drum
** Spun up fast, <4 seconds
** Drum in 2 pieces, 10 0.3125" Alloy Steel dowel pins
** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle
** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance
** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture
** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck
* Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push > 130lb person on tile floor.
* All wheel drive, 4 Wheels
* Stable Drive Control, robot went straight and could turn appropriately
* Good Speed: 13.6 mph, 912RPM 5" Wheel
* Zip Tied and Electrical Taped all electronic connectors
* Armor absorbed hits well
** Almost no significant damage to main frame
** Aluminum dented and sheared
** HPDE plastically deformed
** Multiple replaceable sets (2.5 Sets)
** Sheet Metal Screws, self tapping into plastic
* Tolerances
** Parts fit together well. Waterjetted jigsaw fits had 0.008" under sizing to interface smoothly
** Dial Indicated large parts on mill
** Custom Grooving Tool for pulley V-belt groove
* Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)
* External chain on drive easily serviceable

==== Changes/Improvements ====
* Larger wheels for ground clearance, 6" instead of 5"
** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels
** Make hub go all the way through wheel (not 2 separate inserts)
* Properly machined drum so that dowel circles line up
* Larger Drum to utilize extra weight
* Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts
** Smaller weapon pulley required to accommodate hole
* Steel Pulley, not Aluminum
* No vertical holes in front plate
* Larger skids for larger wheels/drum
* Extra 2 Skids further back on side plates, redundancy in case front skids shear
* Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate
** Insert attached to side plate to hold in place
** Pocket armor to compensate for space
* Smaller Rear Armor
** Make same profile as side armor
* More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450])
** More Torque, faster spinup and smaller weapon pulley needed due to less gearing
* Brighter LEDs on top plate

== See also ==

== Notes: ==

Successor to [[Soafi|Soafi]] 

Built by _____
[[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:MiddleWeights]]

Mandi

2017-05-04T02:19:11Z

Dsloan:

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Mandi
|-
! scope="row" colspan="2" | [[File:Mandii2.jpg|frameless|right|480x360px|DrumRoll, please]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2010-2011}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|2.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2012-2013}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|MiddleWeight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Drum Spinner}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|3/4}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|{"Temporary")}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|}

= Competitions =

=== RoboGames 2017 ===
* Results
** [https://www.youtube.com/watch?v=JUffCGoJ4kk Loss vs. Cat Kong]
** [https://www.youtube.com/watch?v=BAYflYm80sQ Win vs. Houston]
** [https://www.youtube.com/watch?v=yPc6X6ShpKE Loss vs. Nighthawk]

=== [[RoboGames 2015|RoboGames 2015]] ===
*Results:
**[https://www.youtube.com/watch?v=WX6HXlt14z4 Victory vs Heavy Metal]
**[https://www.youtube.com/watch?v=GLLhz1FLHmQ Loss vs Touro Classic]

=== RoboGames 2013 ===

*Results
**[https://www.youtube.com/watch?v=aMW-srAq4i0 Victory vs Witch Doctor]
***Mandii was initially knocked around and flipped over by the opponent
***Opponent hits Mandii's weapon, flipped itself over as a result, and tried to tackle Mandii
***This collision disabled the opponent's weapon/only means of movement
***Opponent spewed smoke
**[https://www.youtube.com/watch?v=g_Rbv6S2_18 Victory vs MPV]
***Opponent had no visible weapon/movement mechanism
***Opponent was obliterated on 2nd contact by Mandii
***Mandii sustained no visible damage
**[https://www.youtube.com/watch?v=9ZJHFHIC3Mc Loss vs The Blender]
***Mandii attacked frequently, but was pushed aside by the opponent's shell
***Mandii is then viciously attacked by the enemy
***Eventually, Mandii is disabled due to the damage sustained

=== RoboGames 2012 ===
*Results
**[https://www.youtube.com/watch?v=TVaYqNl22xQ Loss vs Wolverine]
***Constant to-and-fro hits
***Mandi was visibly damaged, while the opponent was not
***Loss due to judge's decision

= Versions =

== Mandi (V1.0) ==
Undocumented

== Mandii (V2.0) ==

Created by: ______

{| border="1" cellspacing="1" cellpadding="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| AmpFlow A28-150
|-
| Drive Motor Controllers
| Victor 885
|-
| Weapon Motor
| AmpFlow A28-400
|-
| Weapon Motor Controllers
| 
|-
| Receiver
| 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 
|-
| (OTHER:)
| (OTHER:) 
|}

==== Problems ====

==== Good aspects ====

==== Changes/Improvements ====

== Mandiii (V3.0) ==
Created by: Chelsea Silberglied, Trenton Charlson, Dustin Sloan

{| border="1" cellspacing="1" cellpadding="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| AmpFlow A28-150
|-
| Drive Motor Controllers
| [http://www.robotpower.com/products/vyper_info.html Vyper]
|-
| Weapon Motor
|[http://www.castlecreations.com/en/1-5th-scale-vehicles/2028-extreme-800kv-motor-060-0054-00 Castle Creations 2028 Extreme]
|-
| Weapon Motor Controllers
| [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]
|-
| Receiver
| Hobbyking V2
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2
|-
| Battery
| [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]
2 in series for weapon

1 for drive
|-
| Armor
| 2"x4" HDPE Bar Stock 3/16" 6061 AL Plate
|}

==== Problems ====
* Low Clearance 0.5". Armor same height off ground as arena lip, got stuck on edge.
* Small Wheels (5"), Need to be large
* Difficult to service, required complete disassembly to replace belts and drum bearings.
* Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.
* Transmitter broke during competition. Used Hobbyking $20 Transmitter.
* 3D Printed Electronics Mount Broke
* Need Fastblow Fuse <300A
* Front Plate Fracture at screw interface with side plates, due to <0.125" material at bolt hole
* Weapon Bearings not checked after each match
** One shattered during first match, still spun but quickly seized
* Drum bolt circle was not machined properly, drums canted.
* Large flat area on rear armor, got caught on arena edge
* Underweight (113 lbs)

==== Good aspects ====
* Reliable Drum
** Spun up fast, <4 seconds
** Drum in 2 pieces, 10 0.3125" Alloy Steel dowel pins
** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle
** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance
** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture
** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck
* Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push > 130lb person on tile floor.
* All wheel drive, 4 Wheels
* Stable Drive Control, robot went straight and could turn appropriately
* Good Speed: 13.6 mph, 912RPM 5" Wheel
* Zip Tied and Electrical Taped all electronic connectors
* Armor absorbed hits well
** Almost no significant damage to main frame
** Aluminum dented and sheared
** HPDE plastically deformed
** Multiple replaceable sets (2.5 Sets)
** Sheet Metal Screws, self tapping into plastic
* Tolerances
** Parts fit together well. Waterjetted jigsaw fits had 0.008" under sizing to interface smoothly
** Dial Indicated large parts on mill
** Custom Grooving Tool for pulley V-belt groove
* Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)
* External chain on drive easily serviceable

==== Changes/Improvements ====
* Larger wheels for ground clearance, 6" instead of 5"
** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels
** Make hub go all the way through wheel (not 2 separate inserts)
* Properly machined drum so that dowel circles line up
* Larger Drum to utilize extra weight
* Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts
** Smaller weapon pulley required to accommodate hole
* Steel Pulley, not Aluminum
* No vertical holes in front plate
* Larger skids for larger wheels/drum
* Extra 2 Skids further back on side plates, redundancy in case front skids shear
* Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate
** Insert attached to side plate to hold in place
** Pocket armor to compensate for space
* Smaller Rear Armor
** Make same profile as side armor

== See also ==

== Notes: ==

Successor to [[Soafi|Soafi]] 

Built by _____
[[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:MiddleWeights]]

3lbers

2017-05-02T18:02:47Z

Dsloan: /* Calculations */

= Common Bot Types =

=== Drum Spinner ===

[[Radii]], [[Misti]]

A robot whose weapon is a spinning drum with teeth at the front of the robot. Typically, Drum spinners are invertible.

=== Ring Spinner ===

[[Qti]], [[Smitti Werbenjagermanjensen]]

A robot whose weapon is a spinning ring with teeth that surrounds the entire frame. Generally has bearings which support the ring as it spins.

Pros
* Invertible
* Hits from every side
Cons
* Difficult to make a reliable weapon drive and support system

=== Shell Spinner ===

A robot with a spinning "shell" that encompasses the robot. Similar to a ring spinner, the shell has teeth on it which serve as the weapon. They are easier to make than ring spinner however cannot be made invertible.
=== Vertical Spinner ===

[[Dat Boi]]

A robot with a vertically spinning weapon at the front of the robot. Typically this weapon is complemented by a surrounding wedge to lift opponents into the weapon.
=== Horizontal Spinner ===
[[Schwifti]], [[Ki]]

A robot armed with a flat spinning bar at the front driven with a pulley.

= Key Design Considerations =

== Drive Train ==

=== Speed and Torque ===
A typical 3lber can move around 50-100 in/s. Usually gear ratios necessary to achieve these speeds can supply more than enough torque to allow the robot to push opponents around the arena.

=== Ground Clearance ===
A problem most 3lbers have is being too close to the ground. Debris and uneven arena floor can easily get underneith the robot, propping the wheels off the ground and preventing movement. While considered beneficial for preventing wedges from getting underneath the bot, the loss in control due to low clearance usually nullifies this benefit. It is far better to have a highly mobile bot with high clearance, greater than 0.375" from bottom plate to ground.

== Weapon ==

=== Weapon Drive ===
Typical weapon drive employs a belt and pulley drive train. A rubber or urethane belt runs between a motor with a pulley, and a pulley on the weapon. When using a brushless out-runner motor, the outer can of the motor can be used as a pulley directly, but requires guides to prevent the belt from sliding up or down the motor. Direct drive weapons, where the motor shaft is directly connected to the weapon, is highly discouraged, as the shock from weapon hits can shatter the motor magnets, breaking the motor entirely.

Common motor specs at this scale:
* Power: 500-800W
* Voltage: 11.1 (3s) - 14.8 (4s)
* KV: Depends on weapon type. Small spinners such as drums, disks, and bars, aim for weapon speeds greater than 8000RPM. Large spinners such as ring and shell spinners are in the 2000-5000RPM range

=== Weapon Material ===
Weapons are usually built from aluminum (6061) and mild steel. Large weapons such as drums and ring spinners employ an aluminum frame with steel teeth. Smaller weapons such as bars and disks can be made entirely from steel. It is critical that steel be used for the part of the weapon that comes in contact with other bots, as aluminum is too soft and deforms on direct impact. Toolsteel teeth may be used however it must be fully heat treated after machining to be effective. It is also quite expensive and usually not worth it.

It is important to run FEA on the weapon design, as it will highlight key points of failure. Typical forces a weapon experiences at this scale ranges between 300-600lbs.

== Calculations ==
Here are some common calculations used to find things such as weapon speed, drive speed, pushing force, and power requirements.

RPM = V*KV

ω = RPM *2π/60

v = ω*r

P = ω * τ

α = τ*J

F = τ*r

T = ω/α *0.63

t = T*3

ωoutput = ωinput * e

τoutput = τinput / e

P: Power (Watts)

RPM: Rotations per Minute

KV: RPM/Volt

V: Voltage

ω = Angular Velocity (rad/s)

α = Angular Acceleration (rad/s2)

τ = Torque (N-m)

J = Mass moment of inertia (N-m2)

F = Force (N)

T = Time Constant (s)

t = Spinup time to reach 98% max RPM (s)

r = Wheel/pulley radius (m)

v = Tangential velocity (m/s)

e = Gear Ratio (Drive gear/Driven gear)

NOTE: It is typically easiest to use si units for calculations then convert to imperial later.

[http://www.riobotz.com.br/riobotz_combot_tutorial.pdf]

3lbers

2017-05-02T17:56:29Z

Dsloan: /* Weapon Material */

= Common Bot Types =

=== Drum Spinner ===

[[Radii]], [[Misti]]

A robot whose weapon is a spinning drum with teeth at the front of the robot. Typically, Drum spinners are invertible.

=== Ring Spinner ===

[[Qti]], [[Smitti Werbenjagermanjensen]]

A robot whose weapon is a spinning ring with teeth that surrounds the entire frame. Generally has bearings which support the ring as it spins.

Pros
* Invertible
* Hits from every side
Cons
* Difficult to make a reliable weapon drive and support system

=== Shell Spinner ===

A robot with a spinning "shell" that encompasses the robot. Similar to a ring spinner, the shell has teeth on it which serve as the weapon. They are easier to make than ring spinner however cannot be made invertible.
=== Vertical Spinner ===

[[Dat Boi]]

A robot with a vertically spinning weapon at the front of the robot. Typically this weapon is complemented by a surrounding wedge to lift opponents into the weapon.
=== Horizontal Spinner ===
[[Schwifti]], [[Ki]]

A robot armed with a flat spinning bar at the front driven with a pulley.

= Key Design Considerations =

== Drive Train ==

=== Speed and Torque ===
A typical 3lber can move around 50-100 in/s. Usually gear ratios necessary to achieve these speeds can supply more than enough torque to allow the robot to push opponents around the arena.

=== Ground Clearance ===
A problem most 3lbers have is being too close to the ground. Debris and uneven arena floor can easily get underneith the robot, propping the wheels off the ground and preventing movement. While considered beneficial for preventing wedges from getting underneath the bot, the loss in control due to low clearance usually nullifies this benefit. It is far better to have a highly mobile bot with high clearance, greater than 0.375" from bottom plate to ground.

== Weapon ==

=== Weapon Drive ===
Typical weapon drive employs a belt and pulley drive train. A rubber or urethane belt runs between a motor with a pulley, and a pulley on the weapon. When using a brushless out-runner motor, the outer can of the motor can be used as a pulley directly, but requires guides to prevent the belt from sliding up or down the motor. Direct drive weapons, where the motor shaft is directly connected to the weapon, is highly discouraged, as the shock from weapon hits can shatter the motor magnets, breaking the motor entirely.

Common motor specs at this scale:
* Power: 500-800W
* Voltage: 11.1 (3s) - 14.8 (4s)
* KV: Depends on weapon type. Small spinners such as drums, disks, and bars, aim for weapon speeds greater than 8000RPM. Large spinners such as ring and shell spinners are in the 2000-5000RPM range

=== Weapon Material ===
Weapons are usually built from aluminum (6061) and mild steel. Large weapons such as drums and ring spinners employ an aluminum frame with steel teeth. Smaller weapons such as bars and disks can be made entirely from steel. It is critical that steel be used for the part of the weapon that comes in contact with other bots, as aluminum is too soft and deforms on direct impact. Toolsteel teeth may be used however it must be fully heat treated after machining to be effective. It is also quite expensive and usually not worth it.

It is important to run FEA on the weapon design, as it will highlight key points of failure. Typical forces a weapon experiences at this scale ranges between 300-600lbs.

== Calculations ==
Here are some common calculations used to find things such as weapon speed, drive speed, pushing force, and power requirements.

RPM = V*KV

ω = RPM *2π/60

v = ω*r

P = ω * τ

α = τ*J

T = ω/α *0.63

t = T*3

ωoutput = ωinput * e

τoutput = τinput / e

P: Power (Watts)

RPM: Rotations per Minute

KV: RPM/Volt

V: Voltage

ω = Angular Velocity (rad/s)

α = Angular Acceleration (rad/s2)

τ = Torque (N-m)

J = Mass moment of inertia (N-m2)

T = Time Constant (s)

t = Spinup time to reach 98% max RPM (s)

r = Wheel/pulley radius (m)

v = Tangential velocity (m/s)

e = Gear Ratio (Drive gear/Driven gear)

NOTE: It is typically easiest to use si units for calculations then convert to imperial later.

[http://www.riobotz.com.br/riobotz_combot_tutorial.pdf]

3lbers

2017-05-02T17:53:54Z

Dsloan:

= Common Bot Types =

=== Drum Spinner ===

[[Radii]], [[Misti]]

A robot whose weapon is a spinning drum with teeth at the front of the robot. Typically, Drum spinners are invertible.

=== Ring Spinner ===

[[Qti]], [[Smitti Werbenjagermanjensen]]

A robot whose weapon is a spinning ring with teeth that surrounds the entire frame. Generally has bearings which support the ring as it spins.

Pros
* Invertible
* Hits from every side
Cons
* Difficult to make a reliable weapon drive and support system

=== Shell Spinner ===

A robot with a spinning "shell" that encompasses the robot. Similar to a ring spinner, the shell has teeth on it which serve as the weapon. They are easier to make than ring spinner however cannot be made invertible.
=== Vertical Spinner ===

[[Dat Boi]]

A robot with a vertically spinning weapon at the front of the robot. Typically this weapon is complemented by a surrounding wedge to lift opponents into the weapon.
=== Horizontal Spinner ===
[[Schwifti]], [[Ki]]

A robot armed with a flat spinning bar at the front driven with a pulley.

= Key Design Considerations =

== Drive Train ==

=== Speed and Torque ===
A typical 3lber can move around 50-100 in/s. Usually gear ratios necessary to achieve these speeds can supply more than enough torque to allow the robot to push opponents around the arena.

=== Ground Clearance ===
A problem most 3lbers have is being too close to the ground. Debris and uneven arena floor can easily get underneith the robot, propping the wheels off the ground and preventing movement. While considered beneficial for preventing wedges from getting underneath the bot, the loss in control due to low clearance usually nullifies this benefit. It is far better to have a highly mobile bot with high clearance, greater than 0.375" from bottom plate to ground.

== Weapon ==

=== Weapon Drive ===
Typical weapon drive employs a belt and pulley drive train. A rubber or urethane belt runs between a motor with a pulley, and a pulley on the weapon. When using a brushless out-runner motor, the outer can of the motor can be used as a pulley directly, but requires guides to prevent the belt from sliding up or down the motor. Direct drive weapons, where the motor shaft is directly connected to the weapon, is highly discouraged, as the shock from weapon hits can shatter the motor magnets, breaking the motor entirely.

Common motor specs at this scale:
* Power: 500-800W
* Voltage: 11.1 (3s) - 14.8 (4s)
* KV: Depends on weapon type. Small spinners such as drums, disks, and bars, aim for weapon speeds greater than 8000RPM. Large spinners such as ring and shell spinners are in the 2000-5000RPM range

=== Weapon Material ===
Weapons are usually built from aluminum (6061) and mild steel. Large weapons such as drums and ring spinners employ an aluminum frame with steel teeth. Smaller weapons such as bars and disks can be made entirely from steel. It is critical that steel be used for the part of the weapon that comes in contact with other bots, as aluminum is too soft and deforms on direct impact. Toolsteel teeth may be used however it must be fully heat treated after machining to be effective. It is also quite expensive and usually not worth it.

It is important to run FEA on the weapon design, as it will highlight key points of failure. Typical forces a weapon experiences at this scale ranges between 300-800lbs.

== Calculations ==
Here are some common calculations used to find things such as weapon speed, drive speed, pushing force, and power requirements.

RPM = V*KV

ω = RPM *2π/60

v = ω*r

P = ω * τ

α = τ*J

T = ω/α *0.63

t = T*3

ωoutput = ωinput * e

τoutput = τinput / e

P: Power (Watts)

RPM: Rotations per Minute

KV: RPM/Volt

V: Voltage

ω = Angular Velocity (rad/s)

α = Angular Acceleration (rad/s2)

τ = Torque (N-m)

J = Mass moment of inertia (N-m2)

T = Time Constant (s)

t = Spinup time to reach 98% max RPM (s)

r = Wheel/pulley radius (m)

v = Tangential velocity (m/s)

e = Gear Ratio (Drive gear/Driven gear)

NOTE: It is typically easiest to use si units for calculations then convert to imperial later.

[http://www.riobotz.com.br/riobotz_combot_tutorial.pdf]