RoboJackets Wiki - User contributions [en]

Cathi

2018-02-23T01:42:12Z

Dsloan6: Added pictures of Cathiii

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Cathi
|-
! scope="row" colspan="2" |[[File:Cathiii.JPG|thumb|400x400px]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2013-2014}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Version
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|2.1}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2014-2015}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|FeatherWeight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Ring Spinner}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| 2/2
|}

Cathii is a 30 pound invertable ring spinner robot.  A ring spinner design was chosen because it allows and offense on every side of the robot, while still being invertable.  The ring design allows weight normally dedicated to the armor of the robot to be dedicated to the weapon, thus increased the power of the weapon.  Her ring is approximately 10 pounds and spins around 1500rpm at top speed.  Cathii has be undergoing continual improvements every year since her first competition in 2014.

== Competitions ==

=== Motorama 2014 ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]

=== [[Motorama_2015|Motorama 2015]] ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]
*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=nQ0EcZ4UvJg&index=7&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Drum Thing Else]
***[https://www.youtube.com/watch?v=qwzfQ44UKHI&index=15&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Triggo]
**[https://www.youtube.com/watch?v=e9lHdjj1454&index=17&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss in Featherweight Rumble] 

=== [[Motorama_2016|Motorama 2016]] ===

*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=CVMc3VlrNUs Loss vs megatRON]
***[https://www.youtube.com/watch?v=7lreUldRKR8 Loss vs The Robot Formerly Known as Drumthing]
***[https://www.youtube.com/watch?v=gg38rxzOTnA Win vs Gracious Pipefessionalism]

=== [[Motorama 2017]] ===
*Results:
**Bracket Style:
***Win vs Gracious Pipefessionalism
***Loss vs
***Loss vs

=== Motorama 2018 ===
*Results
**Bracket Style
***[https://www.youtube.com/watch?v=pVfyD_UVblQ Loss vs Marathon]
***Win vs
***Win vs
***Loss vs

== Versions ==

=== Cathi V1.0 ===

Desgined By: Max Carlson[[File:Cathii.jpg|frameless|right|480x360px|Mega-Smitti]]

Cathi was first designed and built during the 2013-2014 school year.  

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-545
|-
| Drive Motor Controllers 
| Ragebridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 8s 5000mAh
|}

==== Problems:   ====

*Drive Motors are over volted
*Weapon ESCs burned up
*Weapon Belts would bind and stall out the weapon motors
*Overall weight was heavier than the estimated weight(weapon aluminum inserts were removed to account for this)

==== Future Changes/Improvements: ====

*Decrease the main robot voltage
*Look into new weapon ESCs
*Redesign weapon motor system
*Use more powerful drive motors

=== Cathi V1.1 ===

Very little changes occured in this second iteration.  The majority of parts were reused, with some being altered.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS 550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 6s 5000mAh 
|}

==== Problems: ====

*The RS-550s performed better than the RS-545s, but still burnt up
*The Weapon motor controllers continued to burn up
*The inner pulley diameters were decreased to keep the belts from binding.  This resulted in under tensioned belts which failed to transmit the force of the motors.

==== Future Changes/Improvements: ====

*Program the Ragebridge/Tranmitter to limit the motor voltage
*Use new weapon motor controllers
*Change the weapon motor system
*Change the weapon mount system

=== Cathi V2.1 ===

Designed By: [https://wiki.robojackets.org/w/User:Ebisgaard Ethan Bisgaard]

Cathii was completely redesigned from the ground up.  Some of the design goals were reducing the overall weight and accomplishing that overall weight, redesigning the weapon system, and improving the electronics system.  When fininshed, the entire robot shrunk by approximetly 1" in diameter and was estimated to be 28 pounds.  The actual weight ended up being 29 pounds accomplishing our first goal.  For the weapon system, the weapons mounts were completly redesigned, and we switched to a teardrop wheel drive instead of a beld drive.  The new weapon mounts are a custom built tapered roller mount which increased the load ratings, while eliminating the friction seen in the previous pulley design.  The idea behind the teardrop wheel is similar to a centrifugal clutch; as the weapons spin up, the wheel would expand to contact the inside face of the weapon ring.  Both of these designs accomplished our second goal.  Finally, we changed the electronics of the robot.  For the drive system, we programed the drive controls on the trasmitter for a maximum voltage of 16 volts instead of the max volts of our robot(22 volts).  This kept our drive motors from overvolting and burning up.  We also used a new weapon ESC, the Toro TS 150a.

Cathii accomplished all design goals set out.  All aspects of the robot worked as expected except for the teardrop wheels.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 50-50
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6s 5000mAh
|}

==== Problems: ====

*Teardrop wheels exploded under their high speeds and high forces
*The weapon motors burned up either due to high lateral forces on the motor, or prolongedhigh current in the motor.

==== Future Changes/Improvements: ====

*Redesign the weapon drive system

=== Cathi V2.2 ===
Designed By: Justin Ma

Cathiii was modified from the remnants of V2.1. The weapon ring and tapered roller mounts were retained, while the weapon drive was converted back to a pulley system with a rubber drive wheel. The robot ended up being 28 pounds. For the weapon drive, the pulley system consisted of a steel pulley, angular contact bearings, and aluminum end caps that bolted into both the top and bottom plates, and were driven by two 1/8" wide polyurethane belts. A neoprene rubber wheel, cut from tubing, was epoxied onto the pulley. The drive system was kept the same save for the electronics. The RageBridge was replaced with a Scorpion XXL controller and provided unregulated voltage to the drive system.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| Scorpion XXL
|-
| Weapon Motor 
| Scorpion HKIII-4025-550KV
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6S 2650mAh
|}

==== Problems: ====

*Weapon drive wheel detached from the pulley.
*The weapon motors experienced inconsistent loading due to tolerance stack-up of bearings and bearing mounts.

==== Future Improvements: ====
*Weapon drive design needs a positive interference mechanism to constrain the weapon drive wheel from slipping off.
*Weapon motor mounts should have a compliance mechanism for radial interference.

=== Cathi V3.0 ===
Designed By: Dustin Sloan

==== Basic Design ====
Cathiii was redesigned again from the ground up. This version involved a complete redesign of the roller mounts. There were 8 roller mounts, each had 3 plastic rollers that had bearings press fit into them. This allowed the ring to be supported radially and axially on separate sets of bearings such that if one failed, the ring could continue to spin without seizing. The ring could be spun freely with little to no resistance. The weapon drive was 2 brushless outrunner motors with aluminum hubs press fit over them. These hubs had 95A durometer polyurethane tires superglued on to contact the ring. The hardness of the tires was critical, as softer tires (80A) were too difficult to machine accurately, and would come off the hubs when the motor spun up from centrifugal forces. The motors were mounted on custom linear rails, with springs to ensure constant contact with the ring. The spring strength could be tuned by tightening a screw, allowing the slippage between the tire and the ring to be adjusted such that suddenly stopping the spinning ring did not burn out the motors. Occasionally the superglue that held the tires to the hubs would fail, which was why it was important to have 2 weapon motors that could drive the ring on their own if the other motor failed. This proved useful in a match. The drive used dc brushed motors, Banebots gearboxes, Coleson wheels, and a Roboclaw 2x45A ESC.

==== Performance ====
[[File:Cathiii Insides.JPG|thumb|400x400px|The internals of Cathiii. Note the 8 rollers mounts, with 3 rollers.]]
This was the first version of Cathiii to have a successful working weapon. There were no fires or electronic failures on this version. The ring could spin up repeatably for over 3 minutes, and effectively deliver powerful hits with no damage to the ring. This version competed in Motorama 2018 with a good deal of success, 2 wins and 2 losses. The was fully working for 3/4 of the matches, and reliably would spin up to 1200RPM. When the ring took direct hit from high energy spinners, the plastic rollers would shatter at the supports closest to the hit location. This was by design, as the ring had enough other rollers to continue spinning. The bolted on aluminum armor also protected the main ring from direct hits. Most matches required replacing a third of the rollers afterwards as well as the aluminum armor. In Cathiii's 3rd fight against a large vertical spinner, the ring was hit hard enough by the enemy weapon to deform it into an oval, preventing it from spinning for the rest of the competition. A weapon motor also took a direct hit and was destroyed.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers
| Roboclaw 2X45A
|-
| Weapon Motor
| Scorpion HKIII-4025-550KV
|-
| Weapon Motor Controllers
| 90A YEP
|-
| Receiver
| HobbyKing
|-
| Remote Control
| HobbyKing
|-
| Battery
| Turnigy Nanotech 6S 5000mAh
Turnigy Nanotech 3S 2200mAh
|}

==== What Went Well ====
* Ring spun up to 1200RPM consistently
* Could deliver hits and immediately spin up again
* Ablative plastic rollers deformed/shattered when hit (by design)
* Linear motor slider with adjustment springs was very robust
* Bearing Supports worked well
** Only failed under direct hit
* 2 weapon motor redundancy
* Polyurethane weapon drive wheels did not wear down, (95A durometer)
* Superglue used to hold weapon tire to aluminum hub held up
** It did come off after a few matches but seating the tires in a groove would have fixed this
* Drive was powerful
** Coleson wheels were strong
* Electronics didn’t burn, low current draw on both weapon motors and drive motors
* Motors slipped when ring was jammed, didn’t burn up/overdraw current
* Armor protected ring from most hits

==== What Went Wrong ====
* Not enough spare rollers to replace after matches
* Rollers need to take hits better, not explode after first hit
* Some weapons missed armor and hit rollers
* Rubber sometimes came off weapon motor hubs
* Threads in ring destroyed when armor and weapon teeth were torn off
* Ring screws sheared (1/4-20)
* Drive motor separated from gearbox twice, threads pulled out of motor
* Lipos almost bursted, sharp edges inside

* Ring deformed after big hits
* Ring was difficult to manufacture (multiple jig setups in haas since it was too large (18in OD))

==== Improvements ====
* Ring
** Thicker, less prone to warping
** 7075 AL instead of 6061
** No threading so bolts don’t tear out
** Helicoils?
** Thru bolts with nuts
** Smaller diameter for machining in HAAS, < 15in OD
** Bigger Screws, 5/16-18
* Ring Teeth
** Thicker material around bolts
* Armor
** Thicker, more material around bolt counterbore
** More Spares
* Ring Roller Mounts
** More protected to avoid direct hits
** Better way to fix bearing shafts to mount, press fit would come out from big hits
** Threaded or locking pin
** Easier assembly
** Polyurethane rollers instead of delrin to absorb impact elastically without shattering
* Ring Drive
** Better attach rubber, slot on hub with tapper to ease assembly
** Superglue + slot should be enough
* Drive
** Brushless, more compact and smaller cheaper ESCs
** Everyone else using brushless

== Notes: ==
[[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:FeatherWeights]]

File:Cathiii Insides.JPG

2018-02-23T01:39:26Z

Dsloan6:

Cathi

2018-02-23T01:37:03Z

Dsloan6: More edits

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Cathi
|-
! scope="row" colspan="2" |[[File:Cathiii.JPG|thumb|400x400px]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2013-2014}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Version
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|2.1}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2014-2015}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|FeatherWeight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Ring Spinner}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| 2/2
|}

Cathii is a 30 pound invertable ring spinner robot.  A ring spinner design was chosen because it allows and offense on every side of the robot, while still being invertable.  The ring design allows weight normally dedicated to the armor of the robot to be dedicated to the weapon, thus increased the power of the weapon.  Her ring is approximately 10 pounds and spins around 1500rpm at top speed.  Cathii has be undergoing continual improvements every year since her first competition in 2014.

== Competitions ==

=== Motorama 2014 ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]

=== [[Motorama_2015|Motorama 2015]] ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]
*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=nQ0EcZ4UvJg&index=7&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Drum Thing Else]
***[https://www.youtube.com/watch?v=qwzfQ44UKHI&index=15&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Triggo]
**[https://www.youtube.com/watch?v=e9lHdjj1454&index=17&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss in Featherweight Rumble] 

=== [[Motorama_2016|Motorama 2016]] ===

*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=CVMc3VlrNUs Loss vs megatRON]
***[https://www.youtube.com/watch?v=7lreUldRKR8 Loss vs The Robot Formerly Known as Drumthing]
***[https://www.youtube.com/watch?v=gg38rxzOTnA Win vs Gracious Pipefessionalism]

=== [[Motorama 2017]] ===
*Results:
**Bracket Style:
***Win vs Gracious Pipefessionalism
***Loss vs
***Loss vs

=== Motorama 2018 ===
*Results
**Bracket Style
***[https://www.youtube.com/watch?v=pVfyD_UVblQ Loss vs Marathon]
***Win vs
***Win vs
***Loss vs

== Version ==

=== Cathi V1.0 ===

Desgined By: Max Carlson[[File:Cathii.jpg|frameless|right|480x360px|Mega-Smitti]]

Cathi was first designed and built during the 2013-2014 school year.  

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-545
|-
| Drive Motor Controllers 
| Ragebridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 8s 5000mAh
|}

==== Problems:   ====

*Drive Motors are over volted
*Weapon ESCs burned up
*Weapon Belts would bind and stall out the weapon motors
*Overall weight was heavier than the estimated weight(weapon aluminum inserts were removed to account for this)

==== Future Changes/Improvements: ====

*Decrease the main robot voltage
*Look into new weapon ESCs
*Redesign weapon motor system
*Use more powerful drive motors

=== Cathi V1.1 ===

Very little changes occured in this second iteration.  The majority of parts were reused, with some being altered.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS 550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 6s 5000mAh 
|}

==== Problems: ====

*The RS-550s performed better than the RS-545s, but still burnt up
*The Weapon motor controllers continued to burn up
*The inner pulley diameters were decreased to keep the belts from binding.  This resulted in under tensioned belts which failed to transmit the force of the motors.

==== Future Changes/Improvements: ====

*Program the Ragebridge/Tranmitter to limit the motor voltage
*Use new weapon motor controllers
*Change the weapon motor system
*Change the weapon mount system

=== Cathi V2.1 ===

Designed By: [https://wiki.robojackets.org/w/User:Ebisgaard Ethan Bisgaard]

Cathii was completely redesigned from the ground up.  Some of the design goals were reducing the overall weight and accomplishing that overall weight, redesigning the weapon system, and improving the electronics system.  When fininshed, the entire robot shrunk by approximetly 1" in diameter and was estimated to be 28 pounds.  The actual weight ended up being 29 pounds accomplishing our first goal.  For the weapon system, the weapons mounts were completly redesigned, and we switched to a teardrop wheel drive instead of a beld drive.  The new weapon mounts are a custom built tapered roller mount which increased the load ratings, while eliminating the friction seen in the previous pulley design.  The idea behind the teardrop wheel is similar to a centrifugal clutch; as the weapons spin up, the wheel would expand to contact the inside face of the weapon ring.  Both of these designs accomplished our second goal.  Finally, we changed the electronics of the robot.  For the drive system, we programed the drive controls on the trasmitter for a maximum voltage of 16 volts instead of the max volts of our robot(22 volts).  This kept our drive motors from overvolting and burning up.  We also used a new weapon ESC, the Toro TS 150a.

Cathii accomplished all design goals set out.  All aspects of the robot worked as expected except for the teardrop wheels.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 50-50
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6s 5000mAh
|}

==== Problems: ====

*Teardrop wheels exploded under their high speeds and high forces
*The weapon motors burned up either due to high lateral forces on the motor, or prolongedhigh current in the motor.

==== Future Changes/Improvements: ====

*Redesign the weapon drive system

=== Cathi V2.2 ===
Designed By: Justin Ma

Cathiii was modified from the remnants of V2.1. The weapon ring and tapered roller mounts were retained, while the weapon drive was converted back to a pulley system with a rubber drive wheel. The robot ended up being 28 pounds. For the weapon drive, the pulley system consisted of a steel pulley, angular contact bearings, and aluminum end caps that bolted into both the top and bottom plates, and were driven by two 1/8" wide polyurethane belts. A neoprene rubber wheel, cut from tubing, was epoxied onto the pulley. The drive system was kept the same save for the electronics. The RageBridge was replaced with a Scorpion XXL controller and provided unregulated voltage to the drive system.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| Scorpion XXL
|-
| Weapon Motor 
| Scorpion HKIII-4025-550KV
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6S 2650mAh
|}

==== Problems: ====

*Weapon drive wheel detached from the pulley.
*The weapon motors experienced inconsistent loading due to tolerance stack-up of bearings and bearing mounts.

==== Future Improvements: ====
*Weapon drive design needs a positive interference mechanism to constrain the weapon drive wheel from slipping off.
*Weapon motor mounts should have a compliance mechanism for radial interference.

=== Cathi V3.0 ===
Designed By: Dustin Sloan

==== Basic Design ====
Cathiii was redesigned again from the ground up. This version involved a complete redesign of the roller mounts. There were 8 roller mounts, each had 3 plastic rollers that had bearings press fit into them. This allowed the ring to be supported radially and axially on separate sets of bearings such that if one failed, the ring could continue to spin without seizing. The ring could be spun freely with little to no resistance. The weapon drive was 2 brushless outrunner motors with aluminum hubs press fit over them. These hubs had 95A durometer polyurethane tires superglued on to contact the ring. The hardness of the tires was critical, as softer tires (80A) were too difficult to machine accurately, and would come off the hubs when the motor spun up from centrifugal forces. The motors were mounted on custom linear rails, with springs to ensure constant contact with the ring. The spring strength could be tuned by tightening a screw, allowing the slippage between the tire and the ring to be adjusted such that suddenly stopping the spinning ring did not burn out the motors. Occasionally the superglue that held the tires to the hubs would fail, which was why it was important to have 2 weapon motors that could drive the ring on their own if the other motor failed. This proved useful in a match. The drive used dc brushed motors, Banebots gearboxes, Coleson wheels, and a Roboclaw 2x45A ESC.

==== Performance ====
This was the first version of Cathiii to have a successful working weapon. There were no fires or electronic failures on this version. The ring could spin up repeatably for over 3 minutes, and effectively deliver powerful hits with no damage to the ring. This version competed in Motorama 2018 with a good deal of success, 2 wins and 2 losses. The was fully working for 3/4 of the matches, and reliably would spin up to 1200RPM. When the ring took direct hit from high energy spinners, the plastic rollers would shatter at the supports closest to the hit location. This was by design, as the ring had enough other rollers to continue spinning. The bolted on aluminum armor also protected the main ring from direct hits. Most matches required replacing a third of the rollers afterwards as well as the aluminum armor. In Cathiii's 3rd fight against a large vertical spinner, the ring was hit hard enough by the enemy weapon to deform it into an oval, preventing it from spinning for the rest of the competition. A weapon motor also took a direct hit and was destroyed.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers
| Roboclaw 2X45A
|-
| Weapon Motor
| Scorpion HKIII-4025-550KV
|-
| Weapon Motor Controllers
| 90A YEP
|-
| Receiver
| HobbyKing
|-
| Remote Control
| HobbyKing
|-
| Battery
| Turnigy Nanotech 6S 5000mAh
Turnigy Nanotech 3S 2200mAh
|}

==== What Went Well ====
* Ring spun up to 1200RPM consistently
* Could deliver hits and immediately spin up again
* Ablative plastic rollers deformed/shattered when hit (by design)
* Linear motor slider with adjustment springs was very robust
* Bearing Supports worked well
** Only failed under direct hit
* 2 weapon motor redundancy
* Polyurethane weapon drive wheels did not wear down, (95A durometer)
* Superglue used to hold weapon tire to aluminum hub held up
** It did come off after a few matches but seating the tires in a groove would have fixed this
* Drive was powerful
** Coleson wheels were strong
* Electronics didn’t burn, low current draw on both weapon motors and drive motors
* Motors slipped when ring was jammed, didn’t burn up/overdraw current
* Armor protected ring from most hits

==== What Went Wrong ====
* Not enough spare rollers to replace after matches
* Rollers need to take hits better, not explode after first hit
* Some weapons missed armor and hit rollers
* Rubber sometimes came off weapon motor hubs
* Threads in ring destroyed when armor and weapon teeth were torn off
* Ring screws sheared (1/4-20)
* Drive motor separated from gearbox twice, threads pulled out of motor
* Lipos almost bursted, sharp edges inside

* Ring deformed after big hits
* Ring was difficult to manufacture (multiple jig setups in haas since it was too large (18in OD))

==== Improvements ====
* Ring
** Thicker, less prone to warping
** 7075 AL instead of 6061
** No threading so bolts don’t tear out
** Helicoils?
** Thru bolts with nuts
** Smaller diameter for machining in HAAS, < 15in OD
** Bigger Screws, 5/16-18
* Ring Teeth
** Thicker material around bolts
* Armor
** Thicker, more material around bolt counterbore
** More Spares
* Ring Roller Mounts
** More protected to avoid direct hits
** Better way to fix bearing shafts to mount, press fit would come out from big hits
** Threaded or locking pin
** Easier assembly
** Polyurethane rollers instead of delrin to absorb impact elastically without shattering
* Ring Drive
** Better attach rubber, slot on hub with tapper to ease assembly
** Superglue + slot should be enough
* Drive
** Brushless, more compact and smaller cheaper ESCs
** Everyone else using brushless

== Notes: ==
[[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:FeatherWeights]]

File:Cathiii.JPG

2018-02-23T01:26:19Z

Dsloan6:

Cathi

2018-02-23T01:18:54Z

Dsloan6: Added Cathiii

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Cathi
|-
! scope="row" colspan="2" |
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2013-2014}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|2.1}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2014-2015}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|FeatherWeight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Ring Spinner}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/5}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|-
! scope="row" style="text-align:left" | ("Temporary")
| {{{TBA|("Temporary")}}}
|}

Cathii is a 30 pound invertable ring spinner robot.  A ring spinner design was chosen because it allows and offense on every side of the robot, while still being invertable.  The ring design allows weight normally dedicated to the armor of the robot to be dedicated to the weapon, thus increased the power of the weapon.  Her ring is approximetly 15 pounds and spins around 2500 rpm at top speed.  Cathii has be undergoing continual improvements every year since her first competition in 2014.

== Competitions ==

=== Motorama 2014 ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]

=== [[Motorama_2015|Motorama 2015]] ===

*Results:
**Bracket Style:
***[http://youtu.be/HrBQlkcsCsE?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Pitter Patter]
***[http://youtu.be/UoEmcIyIQaQ?list=PLa4DDbMiSUTW8V-dy5on2g5KvAXro05Za Loss vs Candy Paint and Gold Teeth]
*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=nQ0EcZ4UvJg&index=7&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Drum Thing Else]
***[https://www.youtube.com/watch?v=qwzfQ44UKHI&index=15&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss vs Triggo]
**[https://www.youtube.com/watch?v=e9lHdjj1454&index=17&list=PLElIOq0YqguswjV-Bftne-QkNToZ3p9Fi Loss in Featherweight Rumble] 

=== [[Motorama_2016|Motorama 2016]] ===

*Results:
**Bracket Style:
***[https://www.youtube.com/watch?v=CVMc3VlrNUs Loss vs megatRON]
***[https://www.youtube.com/watch?v=7lreUldRKR8 Loss vs The Robot Formerly Known as Drumthing]
***[https://www.youtube.com/watch?v=gg38rxzOTnA Win vs Gracious Pipefessionalism]

=== [[Motorama 2017]] ===
*Results:
**Bracket Style:
***Win vs Gracious Pipefessionalism
***Loss vs
***Loss vs

== Version ==

=== Cathi V1.0 ===

Desgined By: Max Carlson[[File:Cathii.jpg|frameless|right|480x360px|Mega-Smitti]]

Cathi was first designed and built during the 2013-2014 school year.  

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-545
|-
| Drive Motor Controllers 
| Ragebridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 8s 5000mAh
|}

==== Problems:   ====

*Drive Motors are over volted
*Weapon ESCs burned up
*Weapon Belts would bind and stall out the weapon motors
*Overall weight was heavier than the estimated weight(weapon aluminum inserts were removed to account for this)

==== Future Changes/Improvements: ====

*Decrease the main robot voltage
*Look into new weapon ESCs
*Redesign weapon motor system
*Use more powerful drive motors

=== Cathi V1.1 ===

Very little changes occured in this second iteration.  The majority of parts were reused, with some being altered.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS 550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 5050
|-
| Weapon Motor Controllers
| TURNIGY K-Force 120A-HV OPTO 
|-
| Reciever
| Turnigy
|-
| Remote Control
| Turnigy
|-
| Battery
| Turnigy Nanotech 6s 5000mAh 
|}

==== Problems: ====

*The RS-550s performed better than the RS-545s, but still burnt up
*The Weapon motor controllers continued to burn up
*The inner pulley diameters were decreased to keep the belts from binding.  This resulted in under tensioned belts which failed to transmit the force of the motors.

==== Future Changes/Improvements: ====

*Program the Ragebridge/Tranmitter to limit the motor voltage
*Use new weapon motor controllers
*Change the weapon motor system
*Change the weapon mount system

=== Cathi V2.1 ===

Designed By: [https://wiki.robojackets.org/w/User:Ebisgaard Ethan Bisgaard]

Cathii was completely redesigned from the ground up.  Some of the design goals were reducing the overall weight and accomplishing that overall weight, redesigning the weapon system, and improving the electronics system.  When fininshed, the entire robot shrunk by approximetly 1" in diameter and was estimated to be 28 pounds.  The actual weight ended up being 29 pounds accomplishing our first goal.  For the weapon system, the weapons mounts were completly redesigned, and we switched to a teardrop wheel drive instead of a beld drive.  The new weapon mounts are a custom built tapered roller mount which increased the load ratings, while eliminating the friction seen in the previous pulley design.  The idea behind the teardrop wheel is similar to a centrifugal clutch; as the weapons spin up, the wheel would expand to contact the inside face of the weapon ring.  Both of these designs accomplished our second goal.  Finally, we changed the electronics of the robot.  For the drive system, we programed the drive controls on the trasmitter for a maximum voltage of 16 volts instead of the max volts of our robot(22 volts).  This kept our drive motors from overvolting and burning up.  We also used a new weapon ESC, the Toro TS 150a.

Cathii accomplished all design goals set out.  All aspects of the robot worked as expected except for the teardrop wheels.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| RageBridge 1.0
|-
| Weapon Motor 
| NTM 50-50
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6s 5000mAh
|}

==== Problems: ====

*Teardrop wheels exploded under their high speeds and high forces
*The weapon motors burned up either due to high lateral forces on the motor, or prolongedhigh current in the motor.

==== Future Changes/Improvements: ====

*Redesign the weapon drive system

=== Cathi V2.2 ===
Designed By: Justin Ma

Cathiii was modified from the remnants of V2.1. The weapon ring and tapered roller mounts were retained, while the weapon drive was converted back to a pulley system with a rubber drive wheel. The robot ended up being 28 pounds. For the weapon drive, the pulley system consisted of a steel pulley, angular contact bearings, and aluminum end caps that bolted into both the top and bottom plates, and were driven by two 1/8" wide polyurethane belts. A neoprene rubber wheel, cut from tubing, was epoxied onto the pulley. The drive system was kept the same save for the electronics. The RageBridge was replaced with a Scorpion XXL controller and provided unregulated voltage to the drive system.

{| border="1" cellpadding="1" cellspacing="1" style="line-height: 20.7999992370605px; width: 500px;"
|-
| Drive Motors
| RS-550
|-
| Drive Motor Controllers 
| Scorpion XXL
|-
| Weapon Motor 
| Scorpion HKIII-4025-550KV
|-
| Weapon Motor Controllers
| Toro TS 150a
|-
| Reciever
| Hobbyking
|-
| Remote Control
| Hobbyking
|-
| Battery
| Turnigy Nanotech 6S 2650mAh
|}

==== Problems: ====

*Weapon drive wheel detached from the pulley.
*The weapon motors experienced inconsistent loading due to tolerance stack-up of bearings and bearing mounts.

=== Future Improvements: ===
*Weapon drive design needs a positive interference mechanism to constrain the weapon drive wheel from slipping off.
*Weapon motor mounts should have a compliance mechanism for radial interference.

=== Cathi V3.0 ===
Designed By: Dustin Sloan

==== Basic Design ====
Cathiii was redesigned again from the ground up. This version involved a complete redesign of the roller mounts. There were 8 roller mounts, each had 3 plastic rollers that had bearings press fit into them. This allowed the ring to be supported radially and axially on separate sets of bearings such that if one failed, the ring could continue to spin without seizing. The ring could be spun freely with little to no resistance. The weapon drive was 2 brushless outrunner motors with aluminum hubs press fit over them. These hubs had 95A durometer polyurethane tires superglued on to contact the ring. The hardness of the tires was critical, as softer tires (80A) were too difficult to machine accurately, and would come off the hubs when the motor spun up from centrifugal forces. The motors were mounted on custom linear rails, with springs to ensure constant contact with the ring. The spring strength could be tuned by tightening a screw, allowing the slippage between the tire and the ring to be adjusted such that suddenly stopping the spinning ring did not burn out the motors. Occasionally the superglue that held the tires to the hubs would fail, which was why it was important to have 2 weapon motors that could drive the ring on their own if the other motor failed. This proved useful in a match. The drive used dc brushed motors, Banebots gearboxes, Coleson wheels, and a Roboclaw 2x45A ESC.

==== Performance ====
This was the first version of Cathiii to have a successful working weapon. There were no fires or electronic failures on this version. The ring could spin up repeatably for over 3 minutes, and effectively deliver powerful hits with no damage to the ring. This version competed in Motorama 2018 with a good deal of success, 2 wins and 2 losses. The was fully working for 3/4 of the matches, and reliably would spin up to 1200RPM. When the ring took direct hit from high energy spinners, the plastic rollers would shatter at the supports closest to the hit location. This was by design, as the ring had enough other rollers to continue spinning. The bolted on aluminum armor also protected the main ring from direct hits. Most matches required replacing a third of the rollers afterwards as well as the aluminum armor. In Cathiii's 3rd fight against a large vertical spinner, the ring was hit hard enough by the enemy weapon to deform it into an oval, preventing it from spinning for the rest of the competition. A weapon motor also took a direct hit and was destroyed.

==== What Went Well ====
* Ring spun up to 1200RPM consistently
* Could deliver hits and immediately spin up again
* Ablative plastic rollers deformed/shattered when hit (by design)
* Linear motor slider with adjustment springs was very robust
* Bearing Supports worked well
** Only failed under direct hit
* 2 weapon motor redundancy
* Polyurethane weapon drive wheels did not wear down, (95A durometer)
* Superglue used to hold weapon tire to aluminum hub held up
** It did come off after a few matches but seating the tires in a groove would have fixed this
* Drive was powerful
** Coleson wheels were strong
* Electronics didn’t burn, low current draw on both weapon motors and drive motors
* Motors slipped when ring was jammed, didn’t burn up/overdraw current
* Armor protected ring from most hits

==== What Went Wrong ====
* Not enough spare rollers to replace after matches
* Rollers need to take hits better, not explode after first hit
* Some weapons missed armor and hit rollers
* Rubber sometimes came off weapon motor hubs
* Threads in ring destroyed when armor and weapon teeth were torn off
* Ring screws sheared (1/4-20)
* Drive motor separated from gearbox twice, threads pulled out of motor
* Lipos almost bursted, sharp edges inside

* Ring deformed after big hits
* Ring was difficult to manufacture (multiple jig setups in haas since it was too large (18in OD))

==== Improvements ====
* Ring
** Thicker, less prone to warping
** 7075 AL instead of 6061
** No threading so bolts don’t tear out
** Helicoils?
** Thru bolts with nuts
** Smaller diameter for machining in HAAS, < 15in OD
** Bigger Screws, 5/16-18
* Ring Teeth
** Thicker material around bolts
* Armor
** Thicker, more material around bolt counterbore
** More Spares
* Ring Roller Mounts
** More protected to avoid direct hits
** Better way to fix bearing shafts to mount, press fit would come out from big hits
** Threaded or locking pin
** Easier assembly
** Polyurethane rollers instead of delrin to absorb impact elastically without shattering
* Ring Drive
** Better attach rubber, slot on hub with tapper to ease assembly
** Superglue + slot should be enough
* Drive
** Brushless, more compact and smaller cheaper ESCs
** Everyone else using brushless

== Notes: ==
[[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:FeatherWeights]]

People with Keys

2017-08-24T02:09:06Z

Dsloan6:

'''These people have keys to the RoboJackets shop area. ''' See [[Shop_Keys|Shop Keys]] for details on key assignments.

{| class="wikitable sortable"
|-
! Key Number
! Assigned To
|-
| 3SB6: 1
|Ryan Strat
|-
| 3SB6: 4
| Kelvin Chong
|-
| 3SB6: 5
|Yongjae (Young) Won
|-
| 3SB6: 7
| Dustin Sloan
|-
| 3SB6: 8
| [[User:Sastorer3|Sarah Storer]]
|-
| 3SB6: 9
| Ryan Waldheim
|-
| 3SB6:12
| Sahit Chintalapudi
|-
| 3SB6:14
| [[User:Snaeem|Sameer Naeem]]
|-
| 3SB6:15
|Evan Peterson
|-
| 3SB6:18
| Joshua Viszlai
|-
| 3SB6:19
|Ross Lindsay
|-
| 3SB6:20
| Satoshi Yuki
|-
| 3SB6:21
| Will Stuckey
|-
| 3SB6:22
| Noah Daugherty
|-
| 3SB6:23
| Leo Medrano
|-
| 3SB6:24
| Trenton Charlson
|-
| 3SB6:29
| [[User:Mbarulic|Matthew Barulic]]
|-
| 3SB6:31
|[[User:Stewathia3|Sanjana Tewathia]]
|}

Mandi

2017-06-20T05:03:45Z

Dsloan6: /* Mandii (V2.0) */

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Mandiii
|-
! scope="row" colspan="2" |[[File:MandiiiV3.jpg|right|frameless|480x480px|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 =

=== [https://wiki.robojackets.org/w/RoboGames_2017 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 (V1.0) ==

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
* Tapered roller bearing worked well

==== 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

2017-06-20T05:02:47Z

Dsloan6:

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Mandiii
|-
! scope="row" colspan="2" |[[File:MandiiiV3.jpg|right|frameless|480x480px|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 =

=== [https://wiki.robojackets.org/w/RoboGames_2017 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
* Tapered roller bearing worked well

==== 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]]

File:MandiiiV3.jpg

2017-06-20T05:01:14Z

Dsloan6: