RoboJackets Wiki - User contributions [en]

Chonkiii

2023-06-05T22:40:51Z

Mnagaraj6: /* Members: */

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:Western.png|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 3.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2022-2023}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|2/1 NHRL}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|5/5}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| 2000 RPM (~120 MPH Tip Speed)
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}

== Overview ==

=== Concept Motivation ===

Chonki as a concept started as a name and not a design. Brian brought it into existence by thinking "Hey, it would be really funny if we named a robot Chonki and made it really, really big and really really loud..." The more practical goal of Chonki was to utilize the 1.5 times weight bonus from not using wheels for movement to evaluate shell spinners. In its second iteration, Chonkii lived up to its name and goal, attracting many viewers and hearing protection at competition due to the loud noise of the shufflers on steel floors. While Chonkii did manage to achieve many of its goals and function during competition, it had much room for improvement. In its third iteration, Chonkiii’s concept motivation is simplistically to take Chonkii, make it work, and make it work even better.

==== Members:====
*Sydney Baker (Lead)
*Brian Epstein (Mentor)
*Mihir Nagaraj
*Janie Edgar
*Jacques Wang
*Cade Tyler
*Dan Vail
*Christopher Bellflowers
*German Ortega
*Andrew
*Gray
*Maddie

*[FINISH ADDING MEMBERS]

=== Purpose ===

Chonkiii is the third iteration of a 45 lb shuffling shell spinner BattleBot. The robot consists of a chassis that remains stationary relative to the ground and a rotating steel shell that surrounds the entire robot. Chonkiii aims to improve on the design of the previous iteration’s shuffling module by improving the components or areas we ran into issues with in competition. The goal is to design and implement a self-righting mechanism, a more durable shell, faster drive, and superior traction on the feet.

Now that Chonkii has seen competition, much of our design process focused on improving its durability and compatibility in competition. The self-righting bar extends up and outward from the robot, acting as a lever arm to push against the ground and shove it back up right. The shell was manufactured with a 50 degree slant to counteract horizontals and encourage more of a glancing hit than a direct one. The shell is also be manufactured out of a harder steel than Chonkii, which was made from un-hardened A36. The new shells are made from heat-treated 4140 steel, to prevent large dents that will cause the shell to wobble when it spins. More traction is needed to successfully compete with the speeds of the other robots, so the previous method of hot glue will be experimentally tested against new specially applied spikes.

=== High Level Design Overview ===

At its core, Chonki is designed to absorb large hits and win through attrition. Historically, RoboJackets drivers have not been particularly skilled. Chonkiii’s full body shell ensures that, when spun up, Chonkiii does not have a clear weak spot. The tapered shell is ¼” thick and weighs 24lbs. To accommodate for the increased weight, Chonkiii uses a shuffling drive system and utilizes a 150% weight bonus.

== Chassis System ==
=== Overview ===

The overall frame of the chassis forms a cylinder that fits inside of the rotating shell resting on top of it. The self-right bar extends from the top of the center shaft to enable the bot to re-right itself if it is ever flipped on its top. The HPDE side plates on each side of the bot provide protection for the internal electronics while also not adding much weight. These features can be seen in the image of the chassis below.

<PUT IN PICTURE>

=== Top Plate ===
The top plate is made from waterjet 1⁄4 th in Al 6061. The plate includes hole locations for the two weapon motors, the four weapon rollers, the motor mounts, and side plates to attach to. The triangles are positioned on the top plate for weight savings.

<Top Plate>

=== Bottom Plate ===
The bottom plate is made from waterjet 1/8th in Al 6061. The plate has locations for the inner side plates on either side. The center four holes are for mounting the center shaft mount.

<Bottom Plate>

=== Side Plates ===
The outer side plate is made from waterjet 3/16th in Al 6061. The plate has milled circles for the drive bearings. It attaches to the top plate and is secured horizontally by the standoff.

<Outer Side Plate>

The inner side plate is made from waterjet 1/4th in Al 6061. The plate has locations for
the motor mounts, drive bearings, and weight savings.

<Inner Side Plate>

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 UHMWPE feet. The feet sit on two parallel, keyed cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have fillets to clear the rollers and support which they sit under. The cams have offset keyed holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

[[File:Shuffler.PNG|400px]]

[[File:underside.PNG|400px]]

=== Foot Profile ===

The shuffler feet are shaped as such for several reasons. The decreasing lengths are such that the module will fit inside the circular profile of the shell. In the future, the lengths could be further shortened so that the modules could have armor plating in front of them in case a weapon is able to penetrate the shell. The downward slopes of the feet are to provide space for the rollers on which the shell rides. The needle roller bearings are placed into the circular cutouts.

[[File:Foot.PNG|200px]]
[[File:Foot2.PNG|200px]]

[[File:Foot3.PNG|200px]]
[[File:Foot4.PNG|200px]]

=== Cams and Bearings ===
The cam profile is updated from Apachi. This version allows for a single cam profile and greatly simplifies shuffler manufacturing. Using a shaft and key that we have a broach for would be better than waterjetting and removing taper with a jank key-turned-broach.

[[File:Cam1.PNG|200px]]
[[File:Cam2.PNG|240px]]

[[File:Cam3.PNG|200px]]
[[File:Cam4.PNG|200px]]

=== Drive Gears ===
The drive gears were offset at around a 45 degree angle. Replacement gears should be purchased as the tended to get worn down after prolonged use.

[[File:Drivegear.PNG|400px]]

== Weapon System ==

===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Shell Design===

Shell was milled out of a 250 lb block of A36 steel. It took forever but was very effective in absorbing damage.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name, super THICCC
*Its SHINY!

Cons:
*Expensive, had to get Speed Machine to have them use a larger machine to mill the shell out.
*One piece, parts that got damaged on shell were not replaceable - dents needed to be pressed or hammered out.

===Weapon Shaft Interface===
A tapered roller bearing fits into a housing that is attached to the top of the shell.

[[File:Bearing_Section_View.PNG]]

===Weapon-Drive Mechanism===

*Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

[[File:weapondrive.PNG|400px]]

== Electronics ==
<NEEDS UPDATE>
Overall, the drive and weapon were both undervotled and over capacity. The drive performed fine, but was a bit on the slower side. The weapon did not reach a high enough top speed (~1200 RPM max) to deal enough damage. Drive battery was approximately 60% depleted after each fight, and weapon battery was approximately 5% depleted.

{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size (was too big)
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| Tribunus 06-120A (6S) Brushless ESC
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

== Competitions ==

=== Matches ===
*[[NHRL 2023|NHRL March Competition 2023]]
**Chonkiii v. Spare Parts- Win: Video Link
**Chonkiii v. Fenway Defender- Forfeit: No video
**Chonkiii v. Megatron- Loss: Video Link
*NHRL June Competition
**Chonkiii v.

=== Strengths and Failure-Points ===
We compiled a long list of all the components in our robot with the strengths and failure points of each, linked here. To summarize this document, our three main failure points were our underpowered drive, inconsistent tensioning of the shell, and difficulty with faulty electronics.

The low torque in the drive motors and gears caused the shufflers to not work consistently. This will be fixed for future iterations by lowering the KV of the motor as well as shifting the gear ratio to increase the torque going to the shufflers.
With the shell, we aim to get a good balance of tension between getting good contact with the motors and not over-tensioning enough to backdrive the motors. We did not have a good way to measure this and did it mostly by feel, which did not work well in the Megatron fight. In the future we can ensure this is fixed by utilizing a torque wrench to measure and test different tensions to find the optimal one and use it in competitions.
The last failure comes from (mainly) buying poor quality electronics from vendors that have bad quality control for their products. This can easily be fixed in the future, we asked a bunch of veteran competitors what companies they used as well as doing a lot of our own research.
Our main strengths were the shell in its entirety and honestly our team (which sounds super cheesy, but you’ll see what I mean).
The shell was super durable and held up to fights against Megatron. The taper was also super helpful in keeping others away from the more important components. The hardness was kinda perfect and enabled us to take insane hits (from Megatron) and tank it without bending the shell at all, just having chunks be torn out of it. For the future we can improve a couple of things in relation to this shell by doing early orders for it (this shell was very last minute and in-turn super expensive) and ensuring the bolt hole pattern in the hurricanes is accurate (basically a small mistake on our part that lead to a much more difficult installation).
Our team for Chonkiii was absolutely incredible. We had probably the best retention of any Battlebots team in a really long time, only having one person end up coming inconsistently. All of our people were super dedicated to the bot and ensuring it got up and running, we even did a couple of all-nighters on the days leading up to competition. I would truly say that they were one of our biggest strengths when it came to the bot.

== Trivia ==
*At AVC people recognized Chonkii, likely because it is so loud and obnoxious. The noise from Chonkii was both a blessing and a curse. Everyone would come watch our matches because the sound of the shufflers on the steel floor summoned them, but they had to grab hearing protection first.
*During its fight with marathon, Chonkii shattered their S7 weapon hubs by being XTRa thicc.
*https://youtu.be/-03Uj4sr6hc

[[Category: BattleBots]]
[[Category: FeatherWeights]]
[[Category: BigBots]]

Chonkiii

2023-06-05T22:40:11Z

Mnagaraj6:

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:Western.png|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 3.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2022-2023}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|2/1 NHRL}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|5/5}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| 2000 RPM (~120 MPH Tip Speed)
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}

== Overview ==

=== Concept Motivation ===

Chonki as a concept started as a name and not a design. Brian brought it into existence by thinking "Hey, it would be really funny if we named a robot Chonki and made it really, really big and really really loud..." The more practical goal of Chonki was to utilize the 1.5 times weight bonus from not using wheels for movement to evaluate shell spinners. In its second iteration, Chonkii lived up to its name and goal, attracting many viewers and hearing protection at competition due to the loud noise of the shufflers on steel floors. While Chonkii did manage to achieve many of its goals and function during competition, it had much room for improvement. In its third iteration, Chonkiii’s concept motivation is simplistically to take Chonkii, make it work, and make it work even better.

==== Members:====
*Sydney Bakey (Lead)
*Brian Epstein (Mentor)
*Mihir Nagaraj
*Janie Edgar
*Jacques
*Cade Tyler
*Dan Vail
*Christopher Bellflowers
*German Ortega
*Andrew
*Gray
*Maddie

*[FINISH ADDING MEMBERS]

=== Purpose ===

Chonkiii is the third iteration of a 45 lb shuffling shell spinner BattleBot. The robot consists of a chassis that remains stationary relative to the ground and a rotating steel shell that surrounds the entire robot. Chonkiii aims to improve on the design of the previous iteration’s shuffling module by improving the components or areas we ran into issues with in competition. The goal is to design and implement a self-righting mechanism, a more durable shell, faster drive, and superior traction on the feet.

Now that Chonkii has seen competition, much of our design process focused on improving its durability and compatibility in competition. The self-righting bar extends up and outward from the robot, acting as a lever arm to push against the ground and shove it back up right. The shell was manufactured with a 50 degree slant to counteract horizontals and encourage more of a glancing hit than a direct one. The shell is also be manufactured out of a harder steel than Chonkii, which was made from un-hardened A36. The new shells are made from heat-treated 4140 steel, to prevent large dents that will cause the shell to wobble when it spins. More traction is needed to successfully compete with the speeds of the other robots, so the previous method of hot glue will be experimentally tested against new specially applied spikes.

=== High Level Design Overview ===

At its core, Chonki is designed to absorb large hits and win through attrition. Historically, RoboJackets drivers have not been particularly skilled. Chonkiii’s full body shell ensures that, when spun up, Chonkiii does not have a clear weak spot. The tapered shell is ¼” thick and weighs 24lbs. To accommodate for the increased weight, Chonkiii uses a shuffling drive system and utilizes a 150% weight bonus.

== Chassis System ==
=== Overview ===

The overall frame of the chassis forms a cylinder that fits inside of the rotating shell resting on top of it. The self-right bar extends from the top of the center shaft to enable the bot to re-right itself if it is ever flipped on its top. The HPDE side plates on each side of the bot provide protection for the internal electronics while also not adding much weight. These features can be seen in the image of the chassis below.

<PUT IN PICTURE>

=== Top Plate ===
The top plate is made from waterjet 1⁄4 th in Al 6061. The plate includes hole locations for the two weapon motors, the four weapon rollers, the motor mounts, and side plates to attach to. The triangles are positioned on the top plate for weight savings.

<Top Plate>

=== Bottom Plate ===
The bottom plate is made from waterjet 1/8th in Al 6061. The plate has locations for the inner side plates on either side. The center four holes are for mounting the center shaft mount.

<Bottom Plate>

=== Side Plates ===
The outer side plate is made from waterjet 3/16th in Al 6061. The plate has milled circles for the drive bearings. It attaches to the top plate and is secured horizontally by the standoff.

<Outer Side Plate>

The inner side plate is made from waterjet 1/4th in Al 6061. The plate has locations for
the motor mounts, drive bearings, and weight savings.

<Inner Side Plate>

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 UHMWPE feet. The feet sit on two parallel, keyed cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have fillets to clear the rollers and support which they sit under. The cams have offset keyed holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

[[File:Shuffler.PNG|400px]]

[[File:underside.PNG|400px]]

=== Foot Profile ===

The shuffler feet are shaped as such for several reasons. The decreasing lengths are such that the module will fit inside the circular profile of the shell. In the future, the lengths could be further shortened so that the modules could have armor plating in front of them in case a weapon is able to penetrate the shell. The downward slopes of the feet are to provide space for the rollers on which the shell rides. The needle roller bearings are placed into the circular cutouts.

[[File:Foot.PNG|200px]]
[[File:Foot2.PNG|200px]]

[[File:Foot3.PNG|200px]]
[[File:Foot4.PNG|200px]]

=== Cams and Bearings ===
The cam profile is updated from Apachi. This version allows for a single cam profile and greatly simplifies shuffler manufacturing. Using a shaft and key that we have a broach for would be better than waterjetting and removing taper with a jank key-turned-broach.

[[File:Cam1.PNG|200px]]
[[File:Cam2.PNG|240px]]

[[File:Cam3.PNG|200px]]
[[File:Cam4.PNG|200px]]

=== Drive Gears ===
The drive gears were offset at around a 45 degree angle. Replacement gears should be purchased as the tended to get worn down after prolonged use.

[[File:Drivegear.PNG|400px]]

== Weapon System ==

===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Shell Design===

Shell was milled out of a 250 lb block of A36 steel. It took forever but was very effective in absorbing damage.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name, super THICCC
*Its SHINY!

Cons:
*Expensive, had to get Speed Machine to have them use a larger machine to mill the shell out.
*One piece, parts that got damaged on shell were not replaceable - dents needed to be pressed or hammered out.

===Weapon Shaft Interface===
A tapered roller bearing fits into a housing that is attached to the top of the shell.

[[File:Bearing_Section_View.PNG]]

===Weapon-Drive Mechanism===

*Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

[[File:weapondrive.PNG|400px]]

== Electronics ==
<NEEDS UPDATE>
Overall, the drive and weapon were both undervotled and over capacity. The drive performed fine, but was a bit on the slower side. The weapon did not reach a high enough top speed (~1200 RPM max) to deal enough damage. Drive battery was approximately 60% depleted after each fight, and weapon battery was approximately 5% depleted.

{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size (was too big)
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| Tribunus 06-120A (6S) Brushless ESC
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

== Competitions ==

=== Matches ===
*[[NHRL 2023|NHRL March Competition 2023]]
**Chonkiii v. Spare Parts- Win: Video Link
**Chonkiii v. Fenway Defender- Forfeit: No video
**Chonkiii v. Megatron- Loss: Video Link
*NHRL June Competition
**Chonkiii v.

=== Strengths and Failure-Points ===
We compiled a long list of all the components in our robot with the strengths and failure points of each, linked here. To summarize this document, our three main failure points were our underpowered drive, inconsistent tensioning of the shell, and difficulty with faulty electronics.

The low torque in the drive motors and gears caused the shufflers to not work consistently. This will be fixed for future iterations by lowering the KV of the motor as well as shifting the gear ratio to increase the torque going to the shufflers.
With the shell, we aim to get a good balance of tension between getting good contact with the motors and not over-tensioning enough to backdrive the motors. We did not have a good way to measure this and did it mostly by feel, which did not work well in the Megatron fight. In the future we can ensure this is fixed by utilizing a torque wrench to measure and test different tensions to find the optimal one and use it in competitions.
The last failure comes from (mainly) buying poor quality electronics from vendors that have bad quality control for their products. This can easily be fixed in the future, we asked a bunch of veteran competitors what companies they used as well as doing a lot of our own research.
Our main strengths were the shell in its entirety and honestly our team (which sounds super cheesy, but you’ll see what I mean).
The shell was super durable and held up to fights against Megatron. The taper was also super helpful in keeping others away from the more important components. The hardness was kinda perfect and enabled us to take insane hits (from Megatron) and tank it without bending the shell at all, just having chunks be torn out of it. For the future we can improve a couple of things in relation to this shell by doing early orders for it (this shell was very last minute and in-turn super expensive) and ensuring the bolt hole pattern in the hurricanes is accurate (basically a small mistake on our part that lead to a much more difficult installation).
Our team for Chonkiii was absolutely incredible. We had probably the best retention of any Battlebots team in a really long time, only having one person end up coming inconsistently. All of our people were super dedicated to the bot and ensuring it got up and running, we even did a couple of all-nighters on the days leading up to competition. I would truly say that they were one of our biggest strengths when it came to the bot.

== Trivia ==
*At AVC people recognized Chonkii, likely because it is so loud and obnoxious. The noise from Chonkii was both a blessing and a curse. Everyone would come watch our matches because the sound of the shufflers on the steel floor summoned them, but they had to grab hearing protection first.
*During its fight with marathon, Chonkii shattered their S7 weapon hubs by being XTRa thicc.
*https://youtu.be/-03Uj4sr6hc

[[Category: BattleBots]]
[[Category: FeatherWeights]]
[[Category: BigBots]]

Chonkii

2022-05-22T02:32:32Z

Mnagaraj6: /* Issues */

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:Chonkii.jpg|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 2.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2021-2022}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|2/2 Moto 1/2 AVC}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|3/4}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| 1200 RPM (67 MPH)
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}

== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big and really really loud..." Throughout the design process the robot lived up to its name. Chonkii is a 45lb shuffling shell spinner competing in the 30lb weight class that serves as an iteration on the original Chonki, which was never fully constructed. It was developed during 2021-2022. The drive system was iterated from that of Apachi and Chonki. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 times weight multiplier afforded by using a mechanism other than wheels for movement. Competed at Motorama 2022 and finished with a 2-2 record.

Members:
*Mihir Nagaraj (Lead)
*Brian Epstein (Mentor)
*Janie Edgar
*Sydney Baker
*Thomas Jackson
*Cole Sosnowski
*Christopher Bellflowers
*Emily Liu

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 UHMWPE feet. The feet sit on two parallel, keyed cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have fillets to clear the rollers and support which they sit under. The cams have offset keyed holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

[[File:Shuffler.PNG|400px]]

[[File:underside.PNG|400px]]

=== Foot Profile ===

The shuffler feet are shaped as such for several reasons. The decreasing lengths are such that the module will fit inside the circular profile of the shell. In the future, the lengths could be further shortened so that the modules could have armor plating in front of them in case a weapon is able to penetrate the shell. The downward slopes of the feet are to provide space for the rollers on which the shell rides. The needle roller bearings are placed into the circular cutouts.

[[File:Foot.PNG|200px]]
[[File:Foot2.PNG|200px]]

[[File:Foot3.PNG|200px]]
[[File:Foot4.PNG|200px]]

=== Cams and Bearings ===
The cam profile is updated from Apachi. This version allows for a single cam profile and greatly simplifies shuffler manufacturing. Using a shaft and key that we have a broach for would be better than waterjetting and removing taper with a jank key-turned-broach.

[[File:Cam1.PNG|200px]]
[[File:Cam2.PNG|240px]]

[[File:Cam3.PNG|200px]]
[[File:Cam4.PNG|200px]]

=== Drive Gears ===
The drive gears were offset at around a 45 degree angle. Replacement gears should be purchased as the tended to get worn down after prolonged use.

[[File:Drivegear.PNG|400px]]

== Weapon System ==

===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Shell Design===

Shell was milled out of a 250 lb block of A36 steel. It took forever but was very effective in absorbing damage.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name, super THICCC
*Its SHINY!

Cons:
*Expensive, had to get Speed Machine to have them use a larger machine to mill the shell out.
*One piece, parts that got damaged on shell were not replaceable - dents needed to be pressed or hammered out.

===Weapon Shaft Interface===
A tapered roller bearing fits into a housing that is attached to the top of the shell.

[[File:Bearing_Section_View.PNG]]

===Weapon-Drive Mechanism===

*Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

[[File:weapondrive.PNG|400px]]

== Chassis System ==
[[File:ChonkiiChassis.png|480x360px|]]

*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonkii’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that a single longer block with a key would constrain the shaft better than the two block system.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting as a makeshift pin (that was instantly destroyed in competition).

== Electronics ==
Overall, the drive and weapon were both undervotled and over capacity. The drive performed fine, but was a bit on the slower side. The weapon did not reach a high enough top speed (~1200 RPM max) to deal enough damage. Drive battery was approximately 60% depleted after each fight, and weapon battery was approximately 5% depleted.

{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size (was too big)
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| Tribunus 06-120A (6S) Brushless ESC
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

== Competitions ==

=== [[Motorama_2022|Motorama 2022]] ===

*Results: 2-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Marathon (loser): YouTube Link]
**** This match saw Chonkii head to head with a drum spinner driven by this dude: https://www.reddit.com/r/battlebots/comments/twk4da/if_anyone_needs_an_angry_reaction_gif_for_after/
**** Chonkii got a bunch of good hits in, sparks flew multiple times.
**** Shove, wall, stay
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** Really good fight. Chonkii caught maybe 4 feet of air several times. Shuffles kept working, demonstrating robust design.
**** turtle
***[Chonkii (winner) V.S. Pigeon (loser): YouTube Link]
**** Wedge plated in titanium. Weapon was at about 50 percent speed and sent a bunch of sparks.
**** Trick shots, smacked off titanium front plate
***[Chonkii (loser) V.S. Lockout (winner): YouTube Link]
**** Forfeit (5 thou)
**** Over-tightened a single screw mounting the drive motors, causing the chassis to become grounded and lots of sparks when turning on the bot. This took 25 minutes to diagnose, and we only had 20. We subsequently removed the screw and everything worked fine.
**Robojacket Rumble
***[Chonkii vs Everyone: YouTube Link]
**** Cost RJ much money.
**** Probably won't do this again.

=== [[AVC_2022|AVC 2022]] ===

*Results: 1-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Boost (loser): YouTube Link]
**** Expecting to get immediately bum-rushed by the flipper, Chonkii took evasive action directly into the wall
**** After a little shuffling, we bent their front and they tapped out
***[Chonkii (loser) V.S. Wedgeham (winner): YouTube Link]
**** So we kind ajust got pushed around for a bit without having enough not to spin up the shell
**** After being pushed around, we got launched onto the wall where we stayed for the remainder of the match
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** The rematch of the century was cut short by a wire that was: too short
**** This was caused by us removing our 3D printed esc enclosure because we "didn't want to put it back in"

=== Issues ===

* Weapon
** Weapon speed is too slow to inflict a ton of damage
** PAIN to manufacture (for someone else)
*** When you turn a 250lb block of steel into a 22.5lb shell, the other 227.5lb becomes chips that someone (Ben) has to deal with
** Weapon wheel drive does not maintain consistent contact with track
** Shell is too high off the ground, undercutters = scary
** Once one hurricane deforms it is the only one that is hit
* Drive
** Not enough traction to win in a pushing match
** Needs more protection, if it got hit it would likely be destroyed
* Chassis
** Too big and not dense enough
** No self righting mechanism

=== Changes to make ===

* Weapon
** Spring load weapon drive wheel
** Add another weapon motor to increase reliability and top speed
** Smaller weapon motor to decrease bot height
** Switch to angled shell to deflect hits instead of absorbing them??
** Increase number of hurricanes/teeth
** Make hurricanes/teeth one part
** Make hurricanes/teeth replaceable
* Drive
** Improve traction
*** Wooden arenas: join blade meta
*** Magnets on shufflers
* Chassis
** Optimize wiring and make everything more compact
** Reduce overall diameter and add extra weight to weapon
** Self righting mechanism
*** Active: piston with a spike on it?
*** Gigabyte bar

== Trivia ==
*The Vectrax was rendered inoperable twice by Chonki members (mainly Brian) during its construction.
*At AVC people recognized Chonkii, likely because it is so loud and obnoxious. The noise from Chonkii was both a blessing and a curse. Everyone would come watch our matches because the sound of the shufflers on the steel floor summoned them, but they had to grab hearing protection first.
*During its fight with marathon, Chonkii shattered their S7 weapon hubs by being XTRa thicc.
*https://youtu.be/-03Uj4sr6hc

[[Category: BattleBots]]
[[Category: FeatherWeights]]
[[Category: BigBots]]

Chonkii

2022-05-22T02:25:44Z

Mnagaraj6:

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:Chonkii.jpg|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 2.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2021-2022}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|2/2 Moto 1/2 AVC}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|3/4}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| 1200 RPM (67 MPH)
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}

== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big and really really loud..." Throughout the design process the robot lived up to its name. Chonkii is a 45lb shuffling shell spinner competing in the 30lb weight class that serves as an iteration on the original Chonki, which was never fully constructed. It was developed during 2021-2022. The drive system was iterated from that of Apachi and Chonki. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 times weight multiplier afforded by using a mechanism other than wheels for movement. Competed at Motorama 2022 and finished with a 2-2 record.

Members:
*Mihir Nagaraj (Lead)
*Brian Epstein (Mentor)
*Janie Edgar
*Sydney Baker
*Thomas Jackson
*Cole Sosnowski
*Christopher Bellflowers
*Emily Liu

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 UHMWPE feet. The feet sit on two parallel, keyed cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have fillets to clear the rollers and support which they sit under. The cams have offset keyed holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

[[File:Shuffler.PNG|400px]]

[[File:underside.PNG|400px]]

=== Foot Profile ===

The shuffler feet are shaped as such for several reasons. The decreasing lengths are such that the module will fit inside the circular profile of the shell. In the future, the lengths could be further shortened so that the modules could have armor plating in front of them in case a weapon is able to penetrate the shell. The downward slopes of the feet are to provide space for the rollers on which the shell rides. The needle roller bearings are placed into the circular cutouts.

[[File:Foot.PNG|200px]]
[[File:Foot2.PNG|200px]]

[[File:Foot3.PNG|200px]]
[[File:Foot4.PNG|200px]]

=== Cams and Bearings ===
The cam profile is updated from Apachi. This version allows for a single cam profile and greatly simplifies shuffler manufacturing. Using a shaft and key that we have a broach for would be better than waterjetting and removing taper with a jank key-turned-broach.

[[File:Cam1.PNG|200px]]
[[File:Cam2.PNG|240px]]

[[File:Cam3.PNG|200px]]
[[File:Cam4.PNG|200px]]

=== Drive Gears ===
The drive gears were offset at around a 45 degree angle. Replacement gears should be purchased as the tended to get worn down after prolonged use.

[[File:Drivegear.PNG|400px]]

== Weapon System ==

===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Shell Design===

Shell was milled out of a 250 lb block of A36 steel. It took forever but was very effective in absorbing damage.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name, super THICCC
*Its SHINY!

Cons:
*Expensive, had to get Speed Machine to have them use a larger machine to mill the shell out.
*One piece, parts that got damaged on shell were not replaceable - dents needed to be pressed or hammered out.

===Weapon Shaft Interface===
A tapered roller bearing fits into a housing that is attached to the top of the shell.

[[File:Bearing_Section_View.PNG]]

===Weapon-Drive Mechanism===

*Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

[[File:weapondrive.PNG|400px]]

== Chassis System ==
[[File:ChonkiiChassis.png|480x360px|]]

*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonkii’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that a single longer block with a key would constrain the shaft better than the two block system.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting as a makeshift pin (that was instantly destroyed in competition).

== Electronics ==
Overall, the drive and weapon were both undervotled and over capacity. The drive performed fine, but was a bit on the slower side. The weapon did not reach a high enough top speed (~1200 RPM max) to deal enough damage. Drive battery was approximately 60% depleted after each fight, and weapon battery was approximately 5% depleted.

{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size (was too big)
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| Tribunus 06-120A (6S) Brushless ESC
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

== Competitions ==

=== [[Motorama_2022|Motorama 2022]] ===

*Results: 2-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Marathon (loser): YouTube Link]
**** This match saw Chonkii head to head with a drum spinner driven by this dude: https://www.reddit.com/r/battlebots/comments/twk4da/if_anyone_needs_an_angry_reaction_gif_for_after/
**** Chonkii got a bunch of good hits in, sparks flew multiple times.
**** Shove, wall, stay
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** Really good fight. Chonkii caught maybe 4 feet of air several times. Shuffles kept working, demonstrating robust design.
**** turtle
***[Chonkii (winner) V.S. Pigeon (loser): YouTube Link]
**** Wedge plated in titanium. Weapon was at about 50 percent speed and sent a bunch of sparks.
**** Trick shots, smacked off titanium front plate
***[Chonkii (loser) V.S. Lockout (winner): YouTube Link]
**** Forfeit (5 thou)
**** Over-tightened a single screw mounting the drive motors, causing the chassis to become grounded and lots of sparks when turning on the bot. This took 25 minutes to diagnose, and we only had 20. We subsequently removed the screw and everything worked fine.
**Robojacket Rumble
***[Chonkii vs Everyone: YouTube Link]
**** Cost RJ much money.
**** Probably won't do this again.

=== [[AVC_2022|AVC 2022]] ===

*Results: 1-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Boost (loser): YouTube Link]
**** Expecting to get immediately bum-rushed by the flipper, Chonkii took evasive action directly into the wall
**** After a little shuffling, we bent their front and they tapped out
***[Chonkii (loser) V.S. Wedgeham (winner): YouTube Link]
**** So we kind ajust got pushed around for a bit without having enough not to spin up the shell
**** After being pushed around, we got launched onto the wall where we stayed for the remainder of the match
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** The rematch of the century was cut short by a wire that was: too short
**** This was caused by us removing our 3D printed esc enclosure because we "didn't want to put it back in"

=== Issues ===

* Weapon
** Weapon speed is too slow to inflict a ton of damage
** PAIN to manufacture
** Weapon wheel drive does not maintain consistent contact with track
** Shell is too high off the ground, undercutters = scary
** Once one hurricane deforms it is the only one that is hit
* Drive
** Not enough traction to win in a pushing match
** Needs more protection, if it got hit it would likely be destroyed
* Chassis
** Too big and not dense enough
** No self righting mechanism

=== Changes to make ===

* Weapon
** Spring load weapon drive wheel
** Add another weapon motor to increase reliability and top speed
** Smaller weapon motor to decrease bot height
** Switch to angled shell to deflect hits instead of absorbing them??
** Increase number of hurricanes/teeth
** Make hurricanes/teeth one part
** Make hurricanes/teeth replaceable
* Drive
** Improve traction
*** Wooden arenas: join blade meta
*** Magnets on shufflers
* Chassis
** Optimize wiring and make everything more compact
** Reduce overall diameter and add extra weight to weapon
** Self righting mechanism
*** Active: piston with a spike on it?
*** Gigabyte bar

== Trivia ==
*The Vectrax was rendered inoperable twice by Chonki members (mainly Brian) during its construction.
*At AVC people recognized Chonkii, likely because it is so loud and obnoxious. The noise from Chonkii was both a blessing and a curse. Everyone would come watch our matches because the sound of the shufflers on the steel floor summoned them, but they had to grab hearing protection first.
*During its fight with marathon, Chonkii shattered their S7 weapon hubs by being XTRa thicc.
*https://youtu.be/-03Uj4sr6hc

[[Category: BattleBots]]
[[Category: FeatherWeights]]
[[Category: BigBots]]

Chonkii

2022-05-22T02:20:09Z

Mnagaraj6: /* Trivia */

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:Chonkii.jpg|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 2.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2021-2022}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|2/2 Moto 1/2 AVC}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|3/4}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| 1200 RPM (at Motorama)
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}

== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big and really really loud..." Throughout the design process the robot lived up to its name. Chonkii is a 45lb shuffling shell spinner competing in the 30lb weight class that serves as an iteration on the original Chonki, which was never fully constructed. It was developed during 2021-2022. The drive system was iterated from that of Apachi and Chonki. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 times weight multiplier afforded by using a mechanism other than wheels for movement. Competed at Motorama 2022 and finished with a 2-2 record.

Members:
*Mihir Nagaraj (Lead)
*Brian Epstein (Mentor)
*Janie Edgar
*Sydney Baker
*Thomas Jackson
*Cole Sosnowski
*Christopher Bellflowers
*Emily Liu

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 UHMWPE feet. The feet sit on two parallel, keyed cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have fillets to clear the rollers and support which they sit under. The cams have offset keyed holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

[[File:Shuffler.PNG|400px]]

[[File:underside.PNG|400px]]

=== Foot Profile ===

The shuffler feet are shaped as such for several reasons. The decreasing lengths are such that the module will fit inside the circular profile of the shell. In the future, the lengths could be further shortened so that the modules could have armor plating in front of them in case a weapon is able to penetrate the shell. The downward slopes of the feet are to provide space for the rollers on which the shell rides. The needle roller bearings are placed into the circular cutouts.

[[File:Foot.PNG|200px]]
[[File:Foot2.PNG|200px]]

[[File:Foot3.PNG|200px]]
[[File:Foot4.PNG|200px]]

=== Cams and Bearings ===
The cam profile is updated from Apachi. This version allows for a single cam profile and greatly simplifies shuffler manufacturing. Using a shaft and key that we have a broach for would be better than waterjetting and removing taper with a jank key-turned-broach.

[[File:Cam1.PNG|200px]]
[[File:Cam2.PNG|240px]]

[[File:Cam3.PNG|200px]]
[[File:Cam4.PNG|200px]]

=== Drive Gears ===
The drive gears were offset at around a 45 degree angle. Replacement gears should be purchased as the tended to get worn down after prolonged use.

[[File:Drivegear.PNG|400px]]

== Weapon System ==

===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Shell Design===

Shell was milled out of a 250 lb block of A36 steel. It took forever but was very effective in absorbing damage.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name, super THICCC
*Its SHINY!

Cons:
*Expensive, had to get Speed Machine to have them use a larger machine to mill the shell out.
*One piece, parts that got damaged on shell were not replaceable - dents needed to be pressed or hammered out.

===Weapon Shaft Interface===
A tapered roller bearing fits into a housing that is attached to the top of the shell.

[[File:Bearing_Section_View.PNG]]

===Weapon-Drive Mechanism===

*Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

[[File:weapondrive.PNG|400px]]

== Chassis System ==
[[File:ChonkiiChassis.png|480x360px|]]

*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonkii’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that a single longer block with a key would constrain the shaft better than the two block system.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting as a makeshift pin (that was instantly destroyed in competition).

== Electronics ==
Overall, the drive and weapon were both undervotled and over capacity. The drive performed fine, but was a bit on the slower side. The weapon did not reach a high enough top speed (~1200 RPM max) to deal enough damage. Drive battery was approximately 60% depleted after each fight, and weapon battery was approximately 5% depleted.

{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size (was too big)
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| Tribunus 06-120A (6S) Brushless ESC
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

== Competitions ==

=== [[Motorama_2022|Motorama 2022]] ===

*Results: 2-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Marathon (loser): YouTube Link]
**** This match saw Chonkii head to head with a drum spinner driven by this dude: https://www.reddit.com/r/battlebots/comments/twk4da/if_anyone_needs_an_angry_reaction_gif_for_after/
**** Chonkii got a bunch of good hits in, sparks flew multiple times.
**** Shove, wall, stay
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** Really good fight. Chonkii caught maybe 4 feet of air several times. Shuffles kept working, demonstrating robust design.
**** turtle
***[Chonkii (winner) V.S. Pigeon (loser): YouTube Link]
**** Wedge plated in titanium. Weapon was at about 50 percent speed and sent a bunch of sparks.
**** Trick shots, smacked off titanium front plate
***[Chonkii (loser) V.S. Lockout (winner): YouTube Link]
**** Forfeit (5 thou)
**** Over-tightened a single screw mounting the drive motors, causing the chassis to become grounded and lots of sparks when turning on the bot. This took 25 minutes to diagnose, and we only had 20. We subsequently removed the screw and everything worked fine.
**Robojacket Rumble
***[Chonkii vs Everyone: YouTube Link]
**** Cost RJ much money.
**** Probably won't do this again.

=== [[AVC_2022|AVC 2022]] ===

*Results: 1-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Boost (loser): YouTube Link]
**** Expecting to get immediately bum-rushed by the flipper, Chonkii took evasive action directly into the wall
**** After a little shuffling, we bent their front and they tapped out
***[Chonkii (loser) V.S. Wedgeham (winner): YouTube Link]
**** So we kind ajust got pushed around for a bit without having enough not to spin up the shell
**** After being pushed around, we got launched onto the wall where we stayed for the remainder of the match
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** The rematch of the century was cut short by a wire that was: too short
**** This was caused by us removing our 3D printed esc enclosure because we "didn't want to put it back in"

=== Issues ===

* Weapon
** Weapon speed is too slow to inflict a ton of damage
** PAIN to manufacture
** Weapon wheel drive does not maintain consistent contact with track
** Shell is too high off the ground, undercutters = scary
** Once one hurricane deforms it is the only one that is hit
* Drive
** Not enough traction to win in a pushing match
** Needs more protection, if it got hit it would likely be destroyed
* Chassis
** Too big and not dense enough
** No self righting mechanism

=== Changes to make ===

* Weapon
** Spring load weapon drive wheel
** Add another weapon motor to increase reliability and top speed
** Smaller weapon motor to decrease bot height
** Switch to angled shell to deflect hits instead of absorbing them??
** Increase number of hurricanes/teeth
** Make hurricanes/teeth one part
** Make hurricanes/teeth replaceable
* Drive
** Improve traction
*** Wooden arenas: join blade meta
*** Magnets on shufflers
* Chassis
** Optimize wiring and make everything more compact
** Reduce overall diameter and add extra weight to weapon
** Self righting mechanism
*** Active: piston with a spike on it?
*** Gigabyte bar

== Trivia ==
*The Vectrax was rendered inoperable twice by Chonki members (mainly Brian) during its construction.
*At AVC people recognized Chonkii, likely because it is so loud and obnoxious. The noise from Chonkii was both a blessing and a curse. Everyone would come watch our matches because the sound of the shufflers on the steel floor summoned them, but they had to grab hearing protection first.
*During its fight with marathon, Chonkii shattered their S7 weapon hubs by being XTRa thicc.
*https://youtu.be/-03Uj4sr6hc

[[Category: BattleBots]]
[[Category: FeatherWeights]]
[[Category: BigBots]]

Chonkii

2022-05-22T02:03:46Z

Mnagaraj6:

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:Chonkii.jpg|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 2.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2021-2022}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|2/2 Moto 1/2 AVC}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|3/4}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| 1200 RPM (at Motorama)
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}

== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big and really really loud..." Throughout the design process the robot lived up to its name. Chonkii is a 45lb shuffling shell spinner competing in the 30lb weight class that serves as an iteration on the original Chonki, which was never fully constructed. It was developed during 2021-2022. The drive system was iterated from that of Apachi and Chonki. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 times weight multiplier afforded by using a mechanism other than wheels for movement. Competed at Motorama 2022 and finished with a 2-2 record.

Members:
*Mihir Nagaraj (Lead)
*Brian Epstein (Mentor)
*Janie Edgar
*Sydney Baker
*Thomas Jackson
*Cole Sosnowski
*Christopher Bellflowers
*Emily Liu

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 UHMWPE feet. The feet sit on two parallel, keyed cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have fillets to clear the rollers and support which they sit under. The cams have offset keyed holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

[[File:Shuffler.PNG|400px]]

[[File:underside.PNG|400px]]

=== Foot Profile ===

The shuffler feet are shaped as such for several reasons. The decreasing lengths are such that the module will fit inside the circular profile of the shell. In the future, the lengths could be further shortened so that the modules could have armor plating in front of them in case a weapon is able to penetrate the shell. The downward slopes of the feet are to provide space for the rollers on which the shell rides. The needle roller bearings are placed into the circular cutouts.

[[File:Foot.PNG|200px]]
[[File:Foot2.PNG|200px]]

[[File:Foot3.PNG|200px]]
[[File:Foot4.PNG|200px]]

=== Cams and Bearings ===
The cam profile is updated from Apachi. This version allows for a single cam profile and greatly simplifies shuffler manufacturing. Using a shaft and key that we have a broach for would be better than waterjetting and removing taper with a jank key-turned-broach.

[[File:Cam1.PNG|200px]]
[[File:Cam2.PNG|240px]]

[[File:Cam3.PNG|200px]]
[[File:Cam4.PNG|200px]]

=== Drive Gears ===
The drive gears were offset at around a 45 degree angle. Replacement gears should be purchased as the tended to get worn down after prolonged use.

[[File:Drivegear.PNG|400px]]

== Weapon System ==

===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Shell Design===

Shell was milled out of a 250 lb block of A36 steel. It took forever but was very effective in absorbing damage.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name, super THICCC
*Its SHINY!

Cons:
*Expensive, had to get Speed Machine to have them use a larger machine to mill the shell out.
*One piece, parts that got damaged on shell were not replaceable - dents needed to be pressed or hammered out.

===Weapon Shaft Interface===
A tapered roller bearing fits into a housing that is attached to the top of the shell.

[[File:Bearing_Section_View.PNG]]

===Weapon-Drive Mechanism===

*Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

== Chassis System ==
[[File:ChonkiiChassis.png|480x360px|]]
*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonkii’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that a single longer block with a key would constrain the shaft better than the two block system.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting as a makeshift pin (that was instantly destroyed in competition).

== Electronics ==
Overall, the drive and weapon were both undervotled and over capacity. The drive performed fine, but was a bit on the slower side. The weapon did not reach a high enough top speed (~1200 RPM max) to deal enough damage. Drive battery was approximately 60% depleted after each fight, and weapon battery was approximately 5% depleted.

{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size (was too big)
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| Tribunus 06-120A (6S) Brushless ESC
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

== Competitions ==

=== [[Motorama_2022|Motorama 2022]] ===

*Results: 2-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Marathon (loser): YouTube Link]
**** This match saw Chonkii head to head with a drum spinner driven by this dude: https://www.reddit.com/r/battlebots/comments/twk4da/if_anyone_needs_an_angry_reaction_gif_for_after/
**** Chonkii got a bunch of good hits in, sparks flew multiple times.
**** Shove, wall, stay
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** Really good fight. Chonkii caught maybe 4 feet of air several times. Shuffles kept working, demonstrating robust design.
**** turtle
***[Chonkii (winner) V.S. Pigeon (loser): YouTube Link]
**** Wedge plated in titanium. Weapon was at about 50 percent speed and sent a bunch of sparks.
**** Trick shots, smacked off titanium front plate
***[Chonkii (loser) V.S. Lockout (winner): YouTube Link]
**** Forfeit (5 thou)
**** Over-tightened a single screw mounting the drive motors, causing the chassis to become grounded and lots of sparks when turning on the bot. This took 25 minutes to diagnose, and we only had 20. We subsequently removed the screw and everything worked fine.
**Robojacket Rumble
***[Chonkii vs Everyone: YouTube Link]
**** Cost RJ much money.
**** Probably won't do this again.

=== [[AVC_2022|AVC 2022]] ===

*Results: 1-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Boost (loser): YouTube Link]
**** Expecting to get immediately bum-rushed by the flipper, Chonkii took evasive action directly into the wall
**** After a little shuffling, we bent their front and they tapped out
***[Chonkii (loser) V.S. Wedgeham (winner): YouTube Link]
**** So we kind ajust got pushed around for a bit without having enough not to spin up the shell
**** After being pushed around, we got launched onto the wall where we stayed for the remainder of the match
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** The rematch of the century was cut short by a wire that was: too short
**** This was caused by us removing our 3D printed esc enclosure because we "didn't want to put it back in"

=== Issues ===

* Weapon
** Weapon speed is too slow to inflict a ton of damage
** PAIN to manufacture
** Weapon wheel drive does not maintain consistent contact with track
** Shell is too high off the ground, undercutters = scary
** Once one hurricane deforms it is the only one that is hit
* Drive
** Not enough traction to win in a pushing match
** Needs more protection, if it got hit it would likely be destroyed
* Chassis
** Too big and not dense enough
** No self righting mechanism

=== Changes to make ===

* Weapon
** Spring load weapon drive wheel
** Add another weapon motor to increase reliability and top speed
** Smaller weapon motor to decrease bot height
** Switch to angled shell to deflect hits instead of absorbing them??
** Increase number of hurricanes/teeth
** Make hurricanes/teeth one part
** Make hurricanes/teeth replaceable
* Drive
** Improve traction
*** Wooden arenas: join blade meta
*** Magnets on shufflers
* Chassis
** Optimize wiring and make everything more compact
** Reduce overall diameter and add extra weight to weapon
** Self righting mechanism
*** Active: piston with a spike on it?
*** Gigabyte bar

== Trivia ==
*The Vectrax was rendered inoperable twice by Chonki members (mainly Brian) during its construction.
[[Category: BattleBots]]
[[Category: FeatherWeights]]
[[Category: BigBots]]

File:Chonkii.jpg

2022-05-22T02:03:00Z

Mnagaraj6:

Chonkii

2022-05-22T02:00:18Z

Mnagaraj6:

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:Chonki_.png|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 2.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2021-2022}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|2/2 Moto 1/2 AVC}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|3/4}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| 1200 RPM (at Motorama)
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}

== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big and really really loud..." Throughout the design process the robot lived up to its name. Chonkii is a 45lb shuffling shell spinner competing in the 30lb weight class that serves as an iteration on the original Chonki, which was never fully constructed. It was developed during 2021-2022. The drive system was iterated from that of Apachi and Chonki. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 times weight multiplier afforded by using a mechanism other than wheels for movement. Competed at Motorama 2022 and finished with a 2-2 record.

Members:
*Mihir Nagaraj (Lead)
*Brian Epstein (Mentor)
*Janie Edgar
*Sydney Baker
*Thomas Jackson
*Cole Sosnowski
*Christopher Bellflowers
*Emily Liu

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 UHMWPE feet. The feet sit on two parallel, keyed cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have fillets to clear the rollers and support which they sit under. The cams have offset keyed holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

[[File:Shuffler.PNG|400px]]

[[File:underside.PNG|400px]]

=== Foot Profile ===

The shuffler feet are shaped as such for several reasons. The decreasing lengths are such that the module will fit inside the circular profile of the shell. In the future, the lengths could be further shortened so that the modules could have armor plating in front of them in case a weapon is able to penetrate the shell. The downward slopes of the feet are to provide space for the rollers on which the shell rides. The needle roller bearings are placed into the circular cutouts.

[[File:Foot.PNG|200px]]
[[File:Foot2.PNG|200px]]

[[File:Foot3.PNG|200px]]
[[File:Foot4.PNG|200px]]

=== Cams and Bearings ===
The cam profile is updated from Apachi. This version allows for a single cam profile and greatly simplifies shuffler manufacturing. Using a shaft and key that we have a broach for would be better than waterjetting and removing taper with a jank key-turned-broach.

[[File:Cam1.PNG|200px]]
[[File:Cam2.PNG|240px]]

[[File:Cam3.PNG|200px]]
[[File:Cam4.PNG|200px]]

=== Drive Gears ===

== Weapon System ==

===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Shell Design===

Shell was milled out of a 250 lb block of A36 steel. It took forever but was very effective in absorbing damage.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name, super THICCC
*Its SHINY!

Cons:
*Expensive, had to get Speed Machine to have them use a larger machine to mill the shell out.
*One piece, parts that got damaged on shell were not replaceable - dents needed to be pressed or hammered out.

===Weapon Shaft Interface===
A tapered roller bearing fits into a housing that is attached to the top of the shell.

[[File:Bearing_Section_View.PNG]]

===Weapon-Drive Mechanism===

*Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

== Chassis System ==
[[File:ChonkiiChassis.png|480x360px|]]
*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonkii’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that a single longer block with a key would constrain the shaft better than the two block system.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting as a makeshift pin (that was instantly destroyed in competition).

== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size (was too big)
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| Tribunus 06-120A (6S) Brushless ESC
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

== Competitions ==

=== [[Motorama_2022|Motorama 2022]] ===

*Results: 2-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Marathon (loser): YouTube Link]
**** This match saw Chonkii head to head with a drum spinner driven by this dude: https://www.reddit.com/r/battlebots/comments/twk4da/if_anyone_needs_an_angry_reaction_gif_for_after/
**** Chonkii got a bunch of good hits in, sparks flew multiple times.
**** Shove, wall, stay
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** Really good fight. Chonkii caught maybe 4 feet of air several times. Shuffles kept working, demonstrating robust design.
**** turtle
***[Chonkii (winner) V.S. Pigeon (loser): YouTube Link]
**** Wedge plated in titanium. Weapon was at about 50 percent speed and sent a bunch of sparks.
**** Trick shots, smacked off titanium front plate
***[Chonkii (loser) V.S. Lockout (winner): YouTube Link]
**** Forfeit (5 thou)
**** Over-tightened a single screw mounting the drive motors, causing the chassis to become grounded and lots of sparks when turning on the bot. This took 25 minutes to diagnose, and we only had 20. We subsequently removed the screw and everything worked fine.
**Robojacket Rumble
***[Chonkii vs Everyone: YouTube Link]
**** Cost RJ much money.
**** Probably won't do this again.

=== [[AVC_2022|AVC 2022]] ===

*Results: 1-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Boost (loser): YouTube Link]
**** Expecting to get immediately bum-rushed by the flipper, Chonkii took evasive action directly into the wall
**** After a little shuffling, we bent their front and they tapped out
***[Chonkii (loser) V.S. Wedgeham (winner): YouTube Link]
**** So we kind ajust got pushed around for a bit without having enough not to spin up the shell
**** After being pushed around, we got launched onto the wall where we stayed for the remainder of the match
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** The rematch of the century was cut short by a wire that was: too short
**** This was caused by us removing our 3D printed esc enclosure because we "didn't want to put it back in"

=== Issues ===

* Weapon
** Weapon speed is too slow to inflict a ton of damage
** PAIN to manufacture
** Weapon wheel drive does not maintain consistent contact with track
** Shell is too high off the ground, undercutters = scary
** Once one hurricane deforms it is the only one that is hit
* Drive
** Not enough traction to win in a pushing match
** Needs more protection, if it got hit it would likely be destroyed
* Chassis
** Too big and not dense enough
** No self righting mechanism

=== Changes to make ===

* Weapon
** Spring load weapon drive wheel
** Add another weapon motor to increase reliability and top speed
** Smaller weapon motor to decrease bot height
** Switch to angled shell to deflect hits instead of absorbing them??
** Increase number of hurricanes/teeth
** Make hurricanes/teeth one part
** Make hurricanes/teeth replaceable
* Drive
** Improve traction
*** Wooden arenas: join blade meta
*** Magnets on shufflers
* Chassis
** Optimize wiring and make everything more compact
** Reduce overall diameter and add extra weight to weapon
** Self righting mechanism
*** Active: piston with a spike on it?
*** Gigabyte bar

== Trivia ==
*The Vectrax was rendered inoperable twice by Chonki members (mainly Brian) during its construction.
[[Category: BattleBots]]
[[Category: FeatherWeights]]
[[Category: BigBots]]

Chonkii

2022-05-22T02:00:03Z

Mnagaraj6:

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:Chonki_.png|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 2.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2021-2022}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|2/2 Moto 1/2 AVC}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|3/4}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {1200 RPM (at Motorama)}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}

== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big and really really loud..." Throughout the design process the robot lived up to its name. Chonkii is a 45lb shuffling shell spinner competing in the 30lb weight class that serves as an iteration on the original Chonki, which was never fully constructed. It was developed during 2021-2022. The drive system was iterated from that of Apachi and Chonki. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 times weight multiplier afforded by using a mechanism other than wheels for movement. Competed at Motorama 2022 and finished with a 2-2 record.

Members:
*Mihir Nagaraj (Lead)
*Brian Epstein (Mentor)
*Janie Edgar
*Sydney Baker
*Thomas Jackson
*Cole Sosnowski
*Christopher Bellflowers
*Emily Liu

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 UHMWPE feet. The feet sit on two parallel, keyed cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have fillets to clear the rollers and support which they sit under. The cams have offset keyed holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

[[File:Shuffler.PNG|400px]]

[[File:underside.PNG|400px]]

=== Foot Profile ===

The shuffler feet are shaped as such for several reasons. The decreasing lengths are such that the module will fit inside the circular profile of the shell. In the future, the lengths could be further shortened so that the modules could have armor plating in front of them in case a weapon is able to penetrate the shell. The downward slopes of the feet are to provide space for the rollers on which the shell rides. The needle roller bearings are placed into the circular cutouts.

[[File:Foot.PNG|200px]]
[[File:Foot2.PNG|200px]]

[[File:Foot3.PNG|200px]]
[[File:Foot4.PNG|200px]]

=== Cams and Bearings ===
The cam profile is updated from Apachi. This version allows for a single cam profile and greatly simplifies shuffler manufacturing. Using a shaft and key that we have a broach for would be better than waterjetting and removing taper with a jank key-turned-broach.

[[File:Cam1.PNG|200px]]
[[File:Cam2.PNG|240px]]

[[File:Cam3.PNG|200px]]
[[File:Cam4.PNG|200px]]

=== Drive Gears ===

== Weapon System ==

===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Shell Design===

Shell was milled out of a 250 lb block of A36 steel. It took forever but was very effective in absorbing damage.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name, super THICCC
*Its SHINY!

Cons:
*Expensive, had to get Speed Machine to have them use a larger machine to mill the shell out.
*One piece, parts that got damaged on shell were not replaceable - dents needed to be pressed or hammered out.

===Weapon Shaft Interface===
A tapered roller bearing fits into a housing that is attached to the top of the shell.

[[File:Bearing_Section_View.PNG]]

===Weapon-Drive Mechanism===

*Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

== Chassis System ==
[[File:ChonkiiChassis.png|480x360px|]]
*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonkii’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that a single longer block with a key would constrain the shaft better than the two block system.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting as a makeshift pin (that was instantly destroyed in competition).

== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size (was too big)
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| Tribunus 06-120A (6S) Brushless ESC
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

== Competitions ==

=== [[Motorama_2022|Motorama 2022]] ===

*Results: 2-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Marathon (loser): YouTube Link]
**** This match saw Chonkii head to head with a drum spinner driven by this dude: https://www.reddit.com/r/battlebots/comments/twk4da/if_anyone_needs_an_angry_reaction_gif_for_after/
**** Chonkii got a bunch of good hits in, sparks flew multiple times.
**** Shove, wall, stay
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** Really good fight. Chonkii caught maybe 4 feet of air several times. Shuffles kept working, demonstrating robust design.
**** turtle
***[Chonkii (winner) V.S. Pigeon (loser): YouTube Link]
**** Wedge plated in titanium. Weapon was at about 50 percent speed and sent a bunch of sparks.
**** Trick shots, smacked off titanium front plate
***[Chonkii (loser) V.S. Lockout (winner): YouTube Link]
**** Forfeit (5 thou)
**** Over-tightened a single screw mounting the drive motors, causing the chassis to become grounded and lots of sparks when turning on the bot. This took 25 minutes to diagnose, and we only had 20. We subsequently removed the screw and everything worked fine.
**Robojacket Rumble
***[Chonkii vs Everyone: YouTube Link]
**** Cost RJ much money.
**** Probably won't do this again.

=== [[AVC_2022|AVC 2022]] ===

*Results: 1-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Boost (loser): YouTube Link]
**** Expecting to get immediately bum-rushed by the flipper, Chonkii took evasive action directly into the wall
**** After a little shuffling, we bent their front and they tapped out
***[Chonkii (loser) V.S. Wedgeham (winner): YouTube Link]
**** So we kind ajust got pushed around for a bit without having enough not to spin up the shell
**** After being pushed around, we got launched onto the wall where we stayed for the remainder of the match
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** The rematch of the century was cut short by a wire that was: too short
**** This was caused by us removing our 3D printed esc enclosure because we "didn't want to put it back in"

=== Issues ===

* Weapon
** Weapon speed is too slow to inflict a ton of damage
** PAIN to manufacture
** Weapon wheel drive does not maintain consistent contact with track
** Shell is too high off the ground, undercutters = scary
** Once one hurricane deforms it is the only one that is hit
* Drive
** Not enough traction to win in a pushing match
** Needs more protection, if it got hit it would likely be destroyed
* Chassis
** Too big and not dense enough
** No self righting mechanism

=== Changes to make ===

* Weapon
** Spring load weapon drive wheel
** Add another weapon motor to increase reliability and top speed
** Smaller weapon motor to decrease bot height
** Switch to angled shell to deflect hits instead of absorbing them??
** Increase number of hurricanes/teeth
** Make hurricanes/teeth one part
** Make hurricanes/teeth replaceable
* Drive
** Improve traction
*** Wooden arenas: join blade meta
*** Magnets on shufflers
* Chassis
** Optimize wiring and make everything more compact
** Reduce overall diameter and add extra weight to weapon
** Self righting mechanism
*** Active: piston with a spike on it?
*** Gigabyte bar

== Trivia ==
*The Vectrax was rendered inoperable twice by Chonki members (mainly Brian) during its construction.
[[Category: BattleBots]]
[[Category: FeatherWeights]]
[[Category: BigBots]]

Chonkii

2022-05-22T01:59:32Z

Mnagaraj6:

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:Chonki_.png|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 2.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2021-2022}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|2/2 Moto 1/2 AVC}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|3/4}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{1200 RPM (at Motorama)}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}

== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big and really really loud..." Throughout the design process the robot lived up to its name. Chonkii is a 45lb shuffling shell spinner competing in the 30lb weight class that serves as an iteration on the original Chonki, which was never fully constructed. It was developed during 2021-2022. The drive system was iterated from that of Apachi and Chonki. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 times weight multiplier afforded by using a mechanism other than wheels for movement. Competed at Motorama 2022 and finished with a 2-2 record.

Members:
*Mihir Nagaraj (Lead)
*Brian Epstein (Mentor)
*Janie Edgar
*Sydney Baker
*Thomas Jackson
*Cole Sosnowski
*Christopher Bellflowers
*Emily Liu

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 UHMWPE feet. The feet sit on two parallel, keyed cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have fillets to clear the rollers and support which they sit under. The cams have offset keyed holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

[[File:Shuffler.PNG|400px]]

[[File:underside.PNG|400px]]

=== Foot Profile ===

The shuffler feet are shaped as such for several reasons. The decreasing lengths are such that the module will fit inside the circular profile of the shell. In the future, the lengths could be further shortened so that the modules could have armor plating in front of them in case a weapon is able to penetrate the shell. The downward slopes of the feet are to provide space for the rollers on which the shell rides. The needle roller bearings are placed into the circular cutouts.

[[File:Foot.PNG|200px]]
[[File:Foot2.PNG|200px]]

[[File:Foot3.PNG|200px]]
[[File:Foot4.PNG|200px]]

=== Cams and Bearings ===
The cam profile is updated from Apachi. This version allows for a single cam profile and greatly simplifies shuffler manufacturing. Using a shaft and key that we have a broach for would be better than waterjetting and removing taper with a jank key-turned-broach.

[[File:Cam1.PNG|200px]]
[[File:Cam2.PNG|240px]]

[[File:Cam3.PNG|200px]]
[[File:Cam4.PNG|200px]]

=== Drive Gears ===

== Weapon System ==

===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Shell Design===

Shell was milled out of a 250 lb block of A36 steel. It took forever but was very effective in absorbing damage.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name, super THICCC
*Its SHINY!

Cons:
*Expensive, had to get Speed Machine to have them use a larger machine to mill the shell out.
*One piece, parts that got damaged on shell were not replaceable - dents needed to be pressed or hammered out.

===Weapon Shaft Interface===
A tapered roller bearing fits into a housing that is attached to the top of the shell.

[[File:Bearing_Section_View.PNG]]

===Weapon-Drive Mechanism===

*Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

== Chassis System ==
[[File:ChonkiiChassis.png|480x360px|]]
*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonkii’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that a single longer block with a key would constrain the shaft better than the two block system.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting as a makeshift pin (that was instantly destroyed in competition).

== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size (was too big)
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| Tribunus 06-120A (6S) Brushless ESC
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

== Competitions ==

=== [[Motorama_2022|Motorama 2022]] ===

*Results: 2-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Marathon (loser): YouTube Link]
**** This match saw Chonkii head to head with a drum spinner driven by this dude: https://www.reddit.com/r/battlebots/comments/twk4da/if_anyone_needs_an_angry_reaction_gif_for_after/
**** Chonkii got a bunch of good hits in, sparks flew multiple times.
**** Shove, wall, stay
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** Really good fight. Chonkii caught maybe 4 feet of air several times. Shuffles kept working, demonstrating robust design.
**** turtle
***[Chonkii (winner) V.S. Pigeon (loser): YouTube Link]
**** Wedge plated in titanium. Weapon was at about 50 percent speed and sent a bunch of sparks.
**** Trick shots, smacked off titanium front plate
***[Chonkii (loser) V.S. Lockout (winner): YouTube Link]
**** Forfeit (5 thou)
**** Over-tightened a single screw mounting the drive motors, causing the chassis to become grounded and lots of sparks when turning on the bot. This took 25 minutes to diagnose, and we only had 20. We subsequently removed the screw and everything worked fine.
**Robojacket Rumble
***[Chonkii vs Everyone: YouTube Link]
**** Cost RJ much money.
**** Probably won't do this again.

=== [[AVC_2022|AVC 2022]] ===

*Results: 1-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Boost (loser): YouTube Link]
**** Expecting to get immediately bum-rushed by the flipper, Chonkii took evasive action directly into the wall
**** After a little shuffling, we bent their front and they tapped out
***[Chonkii (loser) V.S. Wedgeham (winner): YouTube Link]
**** So we kind ajust got pushed around for a bit without having enough not to spin up the shell
**** After being pushed around, we got launched onto the wall where we stayed for the remainder of the match
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** The rematch of the century was cut short by a wire that was: too short
**** This was caused by us removing our 3D printed esc enclosure because we "didn't want to put it back in"

=== Issues ===

* Weapon
** Weapon speed is too slow to inflict a ton of damage
** PAIN to manufacture
** Weapon wheel drive does not maintain consistent contact with track
** Shell is too high off the ground, undercutters = scary
** Once one hurricane deforms it is the only one that is hit
* Drive
** Not enough traction to win in a pushing match
** Needs more protection, if it got hit it would likely be destroyed
* Chassis
** Too big and not dense enough
** No self righting mechanism

=== Changes to make ===

* Weapon
** Spring load weapon drive wheel
** Add another weapon motor to increase reliability and top speed
** Smaller weapon motor to decrease bot height
** Switch to angled shell to deflect hits instead of absorbing them??
** Increase number of hurricanes/teeth
** Make hurricanes/teeth one part
** Make hurricanes/teeth replaceable
* Drive
** Improve traction
*** Wooden arenas: join blade meta
*** Magnets on shufflers
* Chassis
** Optimize wiring and make everything more compact
** Reduce overall diameter and add extra weight to weapon
** Self righting mechanism
*** Active: piston with a spike on it?
*** Gigabyte bar

== Trivia ==
*The Vectrax was rendered inoperable twice by Chonki members (mainly Brian) during its construction.
[[Category: BattleBots]]
[[Category: FeatherWeights]]
[[Category: BigBots]]

Chonkii

2022-05-22T01:56:18Z

Mnagaraj6:

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:Chonki_.png|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 1.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2020-2021}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/0}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|0/0}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{TBA|0 RPM on a pallet}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}

== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big and really really loud..." Throughout the design process the robot lived up to its name. Chonkii is a 45lb shuffling shell spinner competing in the 30lb weight class that serves as an iteration on the original Chonki, which was never fully constructed. It was developed during 2021-2022. The drive system was iterated from that of Apachi and Chonki. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 times weight multiplier afforded by using a mechanism other than wheels for movement. Competed at Motorama 2022 and finished with a 2-2 record.

Members:
*Mihir Nagaraj (Lead)
*Brian Epstein (Mentor)
*Janie Edgar
*Sydney Baker
*Thomas Jackson
*Cole Sosnowski
*Christopher Bellflowers
*Emily Liu

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 UHMWPE feet. The feet sit on two parallel, keyed cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have fillets to clear the rollers and support which they sit under. The cams have offset keyed holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

[[File:Shuffler.PNG|400px]]

[[File:underside.PNG|400px]]

=== Foot Profile ===

The shuffler feet are shaped as such for several reasons. The decreasing lengths are such that the module will fit inside the circular profile of the shell. In the future, the lengths could be further shortened so that the modules could have armor plating in front of them in case a weapon is able to penetrate the shell. The downward slopes of the feet are to provide space for the rollers on which the shell rides. The needle roller bearings are placed into the circular cutouts.

[[File:Foot.PNG|200px]]
[[File:Foot2.PNG|200px]]

[[File:Foot3.PNG|200px]]
[[File:Foot4.PNG|200px]]

=== Cams and Bearings ===

[[File:Cam1.PNG|200px]]
[[File:Cam2.PNG|240px]]

[[File:Cam3.PNG|200px]]
[[File:Cam4.PNG|200px]]

=== Drive Gears ===

== Weapon System ==

===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Shell Design===

Shell was milled out of a 250 lb block of A36 steel. It took forever but was very effective in absorbing damage.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name, super THICCC
*Its SHINY!

Cons:
*Expensive, had to get Speed Machine to have them use a larger machine to mill the shell out.
*One piece, parts that got damaged on shell were not replaceable - dents needed to be pressed or hammered out.

===Weapon Shaft Interface===
A tapered roller bearing fits into a housing that is attached to the top of the shell.

[[File:Bearing_Section_View.PNG]]

===Weapon-Drive Mechanism===

*Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

== Chassis System ==
[[File:ChonkiiChassis.png|480x360px|]]
*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonkii’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that a single longer block with a key would constrain the shaft better than the two block system.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting as a makeshift pin (that was instantly destroyed in competition).

== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size (was too big)
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| Tribunus 06-120A (6S) Brushless ESC
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

== Competitions ==

=== [[Motorama_2022|Motorama 2022]] ===

*Results: 2-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Marathon (loser): YouTube Link]
**** This match saw Chonkii head to head with a drum spinner driven by this dude: https://www.reddit.com/r/battlebots/comments/twk4da/if_anyone_needs_an_angry_reaction_gif_for_after/
**** Chonkii got a bunch of good hits in, sparks flew multiple times.
**** Shove, wall, stay
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** Really good fight. Chonkii caught maybe 4 feet of air several times. Shuffles kept working, demonstrating robust design.
**** turtle
***[Chonkii (winner) V.S. Pigeon (loser): YouTube Link]
**** Wedge plated in titanium. Weapon was at about 50 percent speed and sent a bunch of sparks.
**** Trick shots, smacked off titanium front plate
***[Chonkii (loser) V.S. Lockout (winner): YouTube Link]
**** Forfeit (5 thou)
**** Over-tightened a single screw mounting the drive motors, causing the chassis to become grounded and lots of sparks when turning on the bot. This took 25 minutes to diagnose, and we only had 20. We subsequently removed the screw and everything worked fine.
**Robojacket Rumble
***[Chonkii vs Everyone: YouTube Link]
**** Cost RJ much money.
**** Probably won't do this again.

=== [[AVC_2022|AVC 2022]] ===

*Results: 1-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Boost (loser): YouTube Link]
**** Expecting to get immediately bum-rushed by the flipper, Chonkii took evasive action directly into the wall
**** After a little shuffling, we bent their front and they tapped out
***[Chonkii (loser) V.S. Wedgeham (winner): YouTube Link]
**** So we kind ajust got pushed around for a bit without having enough not to spin up the shell
**** After being pushed around, we got launched onto the wall where we stayed for the remainder of the match
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** The rematch of the century was cut short by a wire that was: too short
**** This was caused by us removing our 3D printed esc enclosure because we "didn't want to put it back in"

=== Issues ===

* Weapon
** Weapon speed is too slow to inflict a ton of damage
** PAIN to manufacture
** Weapon wheel drive does not maintain consistent contact with track
** Shell is too high off the ground, undercutters = scary
** Once one hurricane deforms it is the only one that is hit
* Drive
** Not enough traction to win in a pushing match
** Needs more protection, if it got hit it would likely be destroyed
* Chassis
** Too big and not dense enough
** No self righting mechanism

=== Changes to make ===

* Weapon
** Spring load weapon drive wheel
** Add another weapon motor to increase reliability and top speed
** Smaller weapon motor to decrease bot height
** Switch to angled shell to deflect hits instead of absorbing them??
** Increase number of hurricanes/teeth
** Make hurricanes/teeth one part
** Make hurricanes/teeth replaceable
* Drive
** Improve traction
*** Wooden arenas: join blade meta
*** Magnets on shufflers
* Chassis
** Optimize wiring and make everything more compact
** Reduce overall diameter and add extra weight to weapon
** Self righting mechanism
*** Active: piston with a spike on it?
*** Gigabyte bar

== Trivia ==
*The Vectrax was rendered inoperable twice by Chonki members (mainly Brian) during its construction.
[[Category: BattleBots]]
[[Category: FeatherWeights]]
[[Category: BigBots]]

Chonkii

2022-05-22T01:48:56Z

Mnagaraj6: /* AVC 2022 */

== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big and really really loud..." Throughout the design process the robot lived up to its name. Chonkii is a 45lb shuffling shell spinner competing in the 30lb weight class that serves as an iteration on the original Chonki, which was never fully constructed. It was developed during 2021-2022. The drive system was iterated from that of Apachi and Chonki. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 times weight multiplier afforded by using a mechanism other than wheels for movement. Competed at Motorama 2022 and finished with a 2-2 record.

Members:
*Mihir Nagaraj (Lead)
*Brian Epstein (Mentor)
*Janie Edgar
*Sydney Baker
*Thomas Jackson
*Cole Sosnowski
*Christopher Bellflowers
*Emily Liu

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 UHMWPE feet. The feet sit on two parallel, keyed cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have fillets to clear the rollers and support which they sit under. The cams have offset keyed holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

[[File:Shuffler.PNG|400px]]

[[File:underside.PNG|400px]]

=== Foot Profile ===

The shuffler feet are shaped as such for several reasons. The decreasing lengths are such that the module will fit inside the circular profile of the shell. In the future, the lengths could be further shortened so that the modules could have armor plating in front of them in case a weapon is able to penetrate the shell. The downward slopes of the feet are to provide space for the rollers on which the shell rides. The needle roller bearings are placed into the circular cutouts.

[[File:Foot.PNG|200px]]
[[File:Foot2.PNG|200px]]

[[File:Foot3.PNG|200px]]
[[File:Foot4.PNG|200px]]

=== Cams and Bearings ===

[[File:Cam1.PNG|200px]]
[[File:Cam2.PNG|240px]]

[[File:Cam3.PNG|200px]]
[[File:Cam4.PNG|200px]]

=== Drive Gears ===

== Weapon System ==

===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Shell Design===

Shell was milled out of a 250 lb block of A36 steel. It took forever but was very effective in absorbing damage.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name, super THICCC
*Its SHINY!

Cons:
*Expensive, had to get Speed Machine to have them use a larger machine to mill the shell out.
*One piece, parts that got damaged on shell were not replaceable - dents needed to be pressed or hammered out.

===Weapon Shaft Interface===
A tapered roller bearing fits into a housing that is attached to the top of the shell.

[[File:Bearing_Section_View.PNG]]

===Weapon-Drive Mechanism===

*Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

== Chassis System ==
[[File:ChonkiiChassis.png|480x360px|]]
*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonkii’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that a single longer block with a key would constrain the shaft better than the two block system.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting as a makeshift pin (that was instantly destroyed in competition).

== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size (was too big)
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| Tribunus 06-120A (6S) Brushless ESC
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

== Competitions ==

=== [[Motorama_2022|Motorama 2022]] ===

*Results: 2-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Marathon (loser): YouTube Link]
**** This match saw Chonkii head to head with a
**** Chonkii got a bunch of good hits in, sparks flew multiple times.
**** Shove, wall , stay
**** More Description
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** turtle
**** More Description
***[Chonkii (winner) V.S. Pigeon (loser): YouTube Link]
**** Trick shots, smacked off titanium front plate
**** More Description
***[Chonkii (loser) V.S. Lockout (winner): YouTube Link]
**** Forfeit (5 thou)
**** Over-tightened a single screw mounting the drive motors, causing the chassis to become grounded and lots of sparks when turning on the bot. This took 25 minutes to diagnose, and we only had 20. We subsequently removed the screw and everything worked fine.
**** More Description
**Robojacket Rumble
***[Chonkii vs Everyone: YouTube Link]
**** Description
**** More Description

=== [[AVC_2022|AVC 2022]] ===

*Results: 1-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Boost (loser): YouTube Link]
**** Expecting to get immediately bum-rushed by the flipper, Chonkii took evasive action directly into the wall
**** After a little shuffling, we bent their front and they tapped out
***[Chonkii (loser) V.S. Wedgeham (winner): YouTube Link]
**** So we kind ajust got pushed around for a bit without having enough not to spin up the shell
**** After being pushed around, we go launched onto the wall where we stayed for the remainder of the match
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** The rematch of the century was cut short by a wire that was: too short
**** This was caused by us removing our 3D printed esc enclosure because we "didn't want to putt it back in"

=== Issues ===

* Weapon
** Weapon speed is too slow to inflict a ton of damage
** PAIN to manufacture
** Weapon wheel drive does not maintain consistent contact with track
** Shell is too high off the ground, undercutters = scary
** Once one hurricane deforms it is the only one that is hit
* Drive
** Not enough traction to win in a pushing match
** Needs more protection, if it got hit it would likely be destroyed
* Chassis
** Too big and not dense enough
** No self righting mechanism

=== Changes to make ===

* Weapon
** Spring load weapon drive wheel
** Add another weapon motor to increase reliability and top speed
** Smaller weapon motor to decrease bot height
** Switch to angled shell to deflect hits instead of absorbing them??
** Increase number of hurricanes/teeth
** Make hurricanes/teeth one part
** Make hurricanes/teeth replaceable
* Drive
** Improve traction
*** Wooden arenas: join blade meta
*** Magnets on shufflers
* Chassis
** Optimize wiring and make everything more compact
** Reduce overall diameter and add extra weight to weapon
** Self righting mechanism
*** Active: piston with a spike on it?
*** Gigabyte bar

== Trivia ==
*The Vectrax was rendered inoperable twice by Chonki members (mainly Brian) during its construction.
[[Category: BattleBots]]
[[Category: FeatherWeights]]
[[Category: BigBots]]

Chonkii

2022-05-22T01:42:06Z

Mnagaraj6: /* AVC 2022 */

== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big and really really loud..." Throughout the design process the robot lived up to its name. Chonkii is a 45lb shuffling shell spinner competing in the 30lb weight class that serves as an iteration on the original Chonki, which was never fully constructed. It was developed during 2021-2022. The drive system was iterated from that of Apachi and Chonki. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 times weight multiplier afforded by using a mechanism other than wheels for movement. Competed at Motorama 2022 and finished with a 2-2 record.

Members:
*Mihir Nagaraj (Lead)
*Brian Epstein (Mentor)
*Janie Edgar
*Sydney Baker
*Thomas Jackson
*Cole Sosnowski
*Christopher Bellflowers
*Emily Liu

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 UHMWPE feet. The feet sit on two parallel, keyed cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have fillets to clear the rollers and support which they sit under. The cams have offset keyed holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

[[File:Shuffler.PNG|400px]]

[[File:underside.PNG|400px]]

=== Foot Profile ===

The shuffler feet are shaped as such for several reasons. The decreasing lengths are such that the module will fit inside the circular profile of the shell. In the future, the lengths could be further shortened so that the modules could have armor plating in front of them in case a weapon is able to penetrate the shell. The downward slopes of the feet are to provide space for the rollers on which the shell rides. The needle roller bearings are placed into the circular cutouts.

[[File:Foot.PNG|200px]]
[[File:Foot2.PNG|200px]]

[[File:Foot3.PNG|200px]]
[[File:Foot4.PNG|200px]]

=== Cams and Bearings ===

[[File:Cam1.PNG|200px]]
[[File:Cam2.PNG|240px]]

[[File:Cam3.PNG|200px]]
[[File:Cam4.PNG|200px]]

=== Drive Gears ===

== Weapon System ==

===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Shell Design===

Shell was milled out of a 250 lb block of A36 steel. It took forever but was very effective in absorbing damage.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name, super THICCC
*Its SHINY!

Cons:
*Expensive, had to get Speed Machine to have them use a larger machine to mill the shell out.
*One piece, parts that got damaged on shell were not replaceable - dents needed to be pressed or hammered out.

===Weapon Shaft Interface===
A tapered roller bearing fits into a housing that is attached to the top of the shell.

[[File:Bearing_Section_View.PNG]]

===Weapon-Drive Mechanism===

*Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

== Chassis System ==
[[File:ChonkiiChassis.png|480x360px|]]
*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonkii’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that a single longer block with a key would constrain the shaft better than the two block system.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting as a makeshift pin (that was instantly destroyed in competition).

== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size (was too big)
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| Tribunus 06-120A (6S) Brushless ESC
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

== Competitions ==

=== [[Motorama_2022|Motorama 2022]] ===

*Results: 2-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Marathon (loser): YouTube Link]
**** This match saw Chonkii head to head with a
**** Chonkii got a bunch of good hits in, sparks flew multiple times.
**** Shove, wall , stay
**** More Description
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** turtle
**** More Description
***[Chonkii (winner) V.S. Pigeon (loser): YouTube Link]
**** Trick shots, smacked off titanium front plate
**** More Description
***[Chonkii (loser) V.S. Lockout (winner): YouTube Link]
**** Forfeit (5 thou)
**** More Description
**Robojacket Rumble
***[Chonkii vs Everyone: YouTube Link]
**** Description
**** More Description

=== [[AVC_2022|AVC 2022]] ===

*Results: 1-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Boost (loser): YouTube Link]
**** Expecting to get immediately bum-rushed by the flipper, Chonkii took evasive action directly into the wall
**** After a little shuffling, we bent their front and they tapped out
**** More description
***[Chonkii (loser) V.S. Wedgeham (winner): YouTube Link]
**** So we kind ajust got pushed around for a bit without having enough not to spin up the shell
**** After being pushed around, we go launched onto the wall where we stayed for the remainder of the match
**** More description
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** The rematch of the century was cut short by a wire that was: too short
**** This was caused by us removing our 3D printed esc enclosure because we "didn't want to putt it back in"
**** More description

==== Issues ====

* Weapon
** Weapon speed is too slow to inflict a ton of damage
** PAIN to manufacture
** Weapon wheel drive does not maintain consistent contact with track
** Shell is too high off the ground, undercutters = scary
** Once one hurricane deforms it is the only one that is hit
* Drive
** Not enough traction to win in a pushing match
** Needs more protection, if it got hit it would likely be destroyed
* Chassis
** Too big and not dense enough
** No self righting mechanism

==== Changes to make ====

* Weapon
** Spring load weapon drive wheel
** Add another weapon motor to increase reliability and top speed
** Smaller weapon motor to decrease bot height
** Switch to angled shell to deflect hits instead of absorbing them??
** Increase number of hurricanes/teeth
** Make hurricanes/teeth one part
** Make hurricanes/teeth replaceable
* Drive
** Improve traction
*** Wooden arenas: join blade meta
*** Magnets on shufflers
* Chassis
** Optimize wiring and make everything more compact
** Reduce overall diameter and add extra weight to weapon
** Self righting mechanism
*** Active: piston with a spike on it?
*** Gigabyte bar

== Trivia ==
*The Vectrax was rendered inoperable twice by Chonki members (mainly Brian) during its construction.
[[Category: BattleBots]]
[[Category: FeatherWeights]]
[[Category: BigBots]]

Chonkii

2022-05-22T01:40:22Z

Mnagaraj6: /* Competitions */

== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big and really really loud..." Throughout the design process the robot lived up to its name. Chonkii is a 45lb shuffling shell spinner competing in the 30lb weight class that serves as an iteration on the original Chonki, which was never fully constructed. It was developed during 2021-2022. The drive system was iterated from that of Apachi and Chonki. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 times weight multiplier afforded by using a mechanism other than wheels for movement. Competed at Motorama 2022 and finished with a 2-2 record.

Members:
*Mihir Nagaraj (Lead)
*Brian Epstein (Mentor)
*Janie Edgar
*Sydney Baker
*Thomas Jackson
*Cole Sosnowski
*Christopher Bellflowers
*Emily Liu

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 UHMWPE feet. The feet sit on two parallel, keyed cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have fillets to clear the rollers and support which they sit under. The cams have offset keyed holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

[[File:Shuffler.PNG|400px]]

[[File:underside.PNG|400px]]

=== Foot Profile ===

The shuffler feet are shaped as such for several reasons. The decreasing lengths are such that the module will fit inside the circular profile of the shell. In the future, the lengths could be further shortened so that the modules could have armor plating in front of them in case a weapon is able to penetrate the shell. The downward slopes of the feet are to provide space for the rollers on which the shell rides. The needle roller bearings are placed into the circular cutouts.

[[File:Foot.PNG|200px]]
[[File:Foot2.PNG|200px]]

[[File:Foot3.PNG|200px]]
[[File:Foot4.PNG|200px]]

=== Cams and Bearings ===

[[File:Cam1.PNG|200px]]
[[File:Cam2.PNG|200px]]

[[File:Cam3.PNG|200px]]
[[File:Cam4.PNG|200px]]

=== Drive Gears ===

== Weapon System ==

===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Shell Design===

Shell was milled out of a 250 lb block of A36 steel. It took forever but was very effective in absorbing damage.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name, super THICCC
*Its SHINY!

Cons:
*Expensive, had to get Speed Machine to have them use a larger machine to mill the shell out.
*One piece, parts that got damaged on shell were not replaceable - dents needed to be pressed or hammered out.

===Weapon Shaft Interface===
A tapered roller bearing fits into a housing that is attached to the top of the shell.

[[File:Bearing_Section_View.PNG]]

===Weapon-Drive Mechanism===

*Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

== Chassis System ==
[[File:ChonkiiChassis.png|480x360px|]]
*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonkii’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that a single longer block with a key would constrain the shaft better than the two block system.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting as a makeshift pin (that was instantly destroyed in competition).

== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size (was too big)
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| Tribunus 06-120A (6S) Brushless ESC
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

== Competitions ==

=== [[Motorama_2022|Motorama 2022]] ===

*Results: 2-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Marathon (loser): YouTube Link]
**** This match saw Chonkii head to head with a
**** Chonkii got a bunch of good hits in, sparks flew multiple times.
**** Shove, wall , stay
**** More Description
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** turtle
**** More Description
***[Chonkii (winner) V.S. Pigeon (loser): YouTube Link]
**** Trick shots, smacked off titanium front plate
**** More Description
***[Chonkii (loser) V.S. Lockout (winner): YouTube Link]
**** Forfeit (5 thou)
**** More Description
**Robojacket Rumble
***[Chonkii vs Everyone: YouTube Link]
**** Description
**** More Description

=== [[AVC_2022|AVC 2022]] ===

*Results: 1-2
**Bracket Style: Double Elimination
***[Chonkii (winner) V.S. Boost (loser): YouTube Link]
**** Expecting to get immediately bum-rushed by the flipper, Chonkii took evasive action directly into the wall
**** After a little shuffling, we bent their front and they tapped out
***[Chonkii (loser) V.S. Wedgeham (winner): YouTube Link]
**** So we kind ajust got pushed around for a bit without having enough not to spin up the shell
**** After being pushed around, we go launched onto the wall where we stayed for the remainder of the match
***[Chonkii (loser) V.S. Yahoo (winner): YouTube Link]
**** The rematch of the century was cut short by a wire that was: too short
**** This was caused by us removing our 3D printed esc enclosure because we "didn't want to putt it back in"

==== Issues ====

* Weapon
** Weapon speed is too slow to inflict a ton of damage
** PAIN to manufacture
** Weapon wheel drive does not maintain consistent contact with track
** Shell is too high off the ground, undercutters = scary
** Once one hurricane deforms it is the only one that is hit
* Drive
** Not enough traction to win in a pushing match
** Needs more protection, if it got hit it would likely be destroyed
* Chassis
** Too big and not dense enough
** No self righting mechanism

==== Changes to make ====

* Weapon
** Spring load weapon drive wheel
** Add another weapon motor to increase reliability and top speed
** Smaller weapon motor to decrease bot height
** Switch to angled shell to deflect hits instead of absorbing them??
** Increase number of hurricanes/teeth
** Make hurricanes/teeth one part
** Make hurricanes/teeth replaceable
* Drive
** Improve traction
*** Wooden arenas: join blade meta
*** Magnets on shufflers
* Chassis
** Optimize wiring and make everything more compact
** Reduce overall diameter and add extra weight to weapon
** Self righting mechanism
*** Active: piston with a spike on it?
*** Gigabyte bar

== Trivia ==
*The Vectrax was rendered inoperable twice by Chonki members (mainly Brian) during its construction.
[[Category: BattleBots]]
[[Category: FeatherWeights]]
[[Category: BigBots]]

Chonkii

2022-05-22T01:10:09Z

Mnagaraj6: /* Weapon-Drive Mechanism */

Chonkii

2022-05-22T01:08:19Z

Mnagaraj6: /* Competitions */

Chonkii

2022-02-27T20:09:17Z

Mnagaraj6: /* Electronics */

Chonkii

2022-02-27T19:39:37Z

Mnagaraj6: /* Introduction */

Chonkii

2022-02-27T19:35:50Z

Mnagaraj6: /* Drive System */

== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big and really really loud..." Throughout the design process the robot lived up to its name. Chonkii is a 45lb shuffling shell spinner competing in the 30lb weight class that serves as an iteration on the original Chonki, which was never fully constructed. It was developed during 2021-2022. The drive system was iterated from that of Apachi and Chonki. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 times weight multiplier afforded by using a mechanism other than wheels for movement. Competed at Motorama 2022 and finished with a 2-2 record.

Members:
*Mihir Naharaj (Lead)
*Brian Epstein (Mentor)
*Janie Edgar
*Sydney Baker
*Thomas Jackson
*Cole Sosnowski
*Christopher Bellflowers
*Emily Liu

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 UHMWPE feet. The feet sit on two parallel, keyed cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have fillets to clear the rollers and support which they sit under. The cams have offset keyed holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

== Weapon System ==

===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Nested Concept===
Originally the shell was designed as a series of rings with progressively increasing diameters. The method of joining these rings together was thoroughly discussed. The two primary options were use of fasteners and through welding. This concept was advantageous because it allowed for the rings to be cut from sheets using the waterjet
=====Fastener Method=====
Advantages:
*Avoids need to use welding (process with which we had little experience)
*Simple to align via hole placement in ring
Easy to replace damaged bolts and or rings
Disadvantages:
*Bolts are likely to shear under stress from hitting other bots
*Addition of holes to rings add stress concentrator, increasing likelihood of failure

=====Welding Method=====
Advantages:
*Very strong joint between rings if done correctly
*Difficult to align rings and keep them aligned (flats were included on rings for this purpose, but a jig would still be required)
Disadvantages:
*A single piece means the whole thing must be replaced after damage
*Welding is hard lol

===Solid Concept===

[[File:ChonkiWeapon.PNG|400px]]

Instead of doing the nested concept, we simply decided to kill the Earth and mill the shell out of a massive block of steel. With all the garnet required for the waterjet design, wasting 90% of a 200 steel block was still cheaper.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name

Cons:
*200 lbs of steel is heavy and our plan was to "just like, pick it up I guess" (admin got mad)
*Shell exceeded the y axis on the HAAS which complicated the CAM
*The block is still sitting in the shop and it's getting lonely

===Weapon Shaft Interface===
A tapered roller bearing fits into a housing that is attached to the top of the shell.

[[File:Bearing_Section_View.PNG]]

===Belt-Driven vs Wheel-Driven===
*Two primary methods were considered for driving the weapon: a belt/sprocket and chain system or a wheel-based system.
**The belt was dismissed due to the various past issues, such as poor tensioning, temperature deviations, and general slipping.
**Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

Editing Chonki Design Guide (section)
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== Chassis System ==
[[File:ChonkiChassis.png|480x360px|]]
*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonki’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that aligning the shaft along the two blocks was incredibly difficult, and a single longer block would have proven to be a superior solution.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting surprisingly well as a pin.

== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| AeroStar Advance 120A HV (6~12S) Brushless ESC (Opto)
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 2x Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
2x Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

== Trivia ==
*The Vectrax was rendered inoperable twice by Chonki members (mainly Brian) during its construction.

File:Chonki .png

2021-05-30T04:01:35Z

Mnagaraj6: Mnagaraj6 uploaded a new version of File:Chonki .png

Chonki Design Guide

2021-05-30T03:52:13Z

Mnagaraj6:

Chonki Design Guide

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:Chonki_.png|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 1.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2020-2021}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/0}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|0/0}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{TBA|0 RPM on a pallet}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}
== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big..." Throughout the design process the robot lived up to its name. Chonki is a 45lb shuffling shell spinner competing in the 30lb weight class. It was developed during 2020-2021. The drive system was iterated from that of Apachi. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 time weight multiplier afforded by using a mechanism other than wheels for movement. Has not been to competition due to COVID cancellation, but showed promise during development.

Members:
*Brian Epstein (Lead)
*Dylan Fife (Mentor)
*Mihir Nagaraj
*Mesum Zaidi
*Emily Liu
*Janie Edgar
*Celina Huang
*Martha Leach
*Cole Sosnowski
*Colin Lyman

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 HDPE feet. The feet sit on two parallel, octagonal cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have chamfers to clear the rollers and support which they sit under. The cams have offset octagonal holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

== Weapon System ==
===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Nested Concept===
Originally the shell was designed as a series of rings with progressively increasing diameters. The method of joining these rings together was thoroughly discussed. The two primary options were use of fasteners and through welding. This concept was advantageous because it allowed for the rings to be cut from sheets using the waterjet
=====Fastener Method=====
Advantages:
*Avoids need to use welding (process with which we had little experience)
*Simple to align via hole placement in ring
Easy to replace damaged bolts and or rings
Disadvantages:
*Bolts are likely to shear under stress from hitting other bots
*Addition of holes to rings add stress concentrator, increasing likelihood of failure

=====Welding Method=====
Advantages:
*Very strong joint between rings if done correctly
*Difficult to align rings and keep them aligned (flats were included on rings for this purpose, but a jig would still be required)
Disadvantages:
*A single piece means the whole thing must be replaced after damage
*Welding is hard lol

===Solid Concept===
Instead of doing the nested concept, we simply decided to kill the Earth and mill the shell out of a massive block of steel. With all the garnet required for the waterjet design, wasting 90% of a 200 steel block was still cheaper.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name

Cons:
*200 lbs of steel is heavy and our plan was to "just like, pick it up I guess" (admin got mad)
*Shell exceeded the y axis on the HAAS which complicated the CAM
*The block is still sitting in the shop and it's getting lonely

===Weapon Shaft Interface===
[[File:Bearing_Section_View.PNG|Right]]

===Belt-Driven vs Wheel-Driven===
*Two primary methods were considered for driving the weapon: a belt/sprocket and chain system or a wheel-based system.
**The belt was dismissed due to the various past issues, such as poor tensioning, temperature deviations, and general slipping.
**Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

== Chassis System ==
*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonki’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that aligning the shaft along the two blocks was incredibly difficult, and a single longer block would have proven to be a superior solution.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting surprisingly well as a pin.

== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| AeroStar Advance 120A HV (6~12S) Brushless ESC (Opto)
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 2x Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
2x Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}
== Trivia ==
*We realized, several weeks into the construction phase, that our current method for creating the shell would use thousands of pounds of garnet and take several days of waterjet time. It was more economical to waste 90% of piece of stock than to do this.
*Chonki was first conceived when Brian thought, "Wouldn't it be a funny if there were a bot named Chonki?"

File:Chonki .png

2021-05-30T03:50:56Z

Mnagaraj6:

Chonki Design Guide

2021-05-30T03:43:40Z

Mnagaraj6: /* Solid Concept */

Chonki Design Guide

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:(Image filename)|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 1.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2020-2021}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/0}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|0/0}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{TBA|0 RPM on a pallet}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}
== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big..." Throughout the design process the robot lived up to its name. Chonki is a 45lb shuffling shell spinner competing in the 30lb weight class. It was developed during 2020-2021. The drive system was iterated from that of Apachi. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 time weight multiplier afforded by using a mechanism other than wheels for movement. Has not been to competition due to COVID cancellation, but showed promise during development.

Members:
*Brian Epstein (Lead)
*Dylan Fife (Mentor)
*Mihir Nagaraj
*Mesum Zaidi
*Emily Liu
*Janie Edgar
*Celina Huang
*Martha Leach
*Cole Sosnowski
*Colin Lyman

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 HDPE feet. The feet sit on two parallel, octagonal cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have chamfers to clear the rollers and support which they sit under. The cams have offset octagonal holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

== Weapon System ==
===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Nested Concept===
Originally the shell was designed as a series of rings with progressively increasing diameters. The method of joining these rings together was thoroughly discussed. The two primary options were use of fasteners and through welding. This concept was advantageous because it allowed for the rings to be cut from sheets using the waterjet
=====Fastener Method=====
Advantages:
*Avoids need to use welding (process with which we had little experience)
*Simple to align via hole placement in ring
Easy to replace damaged bolts and or rings
Disadvantages:
*Bolts are likely to shear under stress from hitting other bots
*Addition of holes to rings add stress concentrator, increasing likelihood of failure

=====Welding Method=====
Advantages:
*Very strong joint between rings if done correctly
*Difficult to align rings and keep them aligned (flats were included on rings for this purpose, but a jig would still be required)
Disadvantages:
*A single piece means the whole thing must be replaced after damage
*Welding is hard lol

===Solid Concept===
Instead of doing the nested concept, we simply decided to kill the Earth and mill the shell out of a massive block of steel. With all the garnet required for the waterjet design, wasting 90% of a 200 steel block was still cheaper.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name

Cons:
*200 lbs of steel is heavy and our plan was to "just like, pick it up I guess" (admin got mad)
*Shell exceeded the y axis on the HAAS which complicated the CAM
*The block is still sitting in the shop and it's getting lonely

===Weapon Shaft Interface===

===Belt-Driven vs Wheel-Driven===
*Two primary methods were considered for driving the weapon: a belt/sprocket and chain system or a wheel-based system.
**The belt was dismissed due to the various past issues, such as poor tensioning, temperature deviations, and general slipping.
**Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

== Chassis System ==
*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonki’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that aligning the shaft along the two blocks was incredibly difficult, and a single longer block would have proven to be a superior solution.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting surprisingly well as a pin.

== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| AeroStar Advance 120A HV (6~12S) Brushless ESC (Opto)
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 2x Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
2x Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

Chonki Design Guide

2021-05-30T03:38:09Z

Mnagaraj6: /* Solid Concept */

Chonki Design Guide

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:(Image filename)|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 1.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2020-2021}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/0}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|0/0}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{TBA|0 RPM on a pallet}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}
== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big..." Throughout the design process the robot lived up to its name. Chonki is a 45lb shuffling shell spinner competing in the 30lb weight class. It was developed during 2020-2021. The drive system was iterated from that of Apachi. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 time weight multiplier afforded by using a mechanism other than wheels for movement. Has not been to competition due to COVID cancellation, but showed promise during development.

Members:
*Brian Epstein (Lead)
*Dylan Fife (Mentor)
*Mihir Nagaraj
*Mesum Zaidi
*Emily Liu
*Janie Edgar
*Celina Huang
*Martha Leach
*Cole Sosnowski
*Colin Lyman

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 HDPE feet. The feet sit on two parallel, octagonal cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have chamfers to clear the rollers and support which they sit under. The cams have offset octagonal holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

== Weapon System ==
===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Nested Concept===
Originally the shell was designed as a series of rings with progressively increasing diameters. The method of joining these rings together was thoroughly discussed. The two primary options were use of fasteners and through welding. This concept was advantageous because it allowed for the rings to be cut from sheets using the waterjet
=====Fastener Method=====
Advantages:
*Avoids need to use welding (process with which we had little experience)
*Simple to align via hole placement in ring
Easy to replace damaged bolts and or rings
Disadvantages:
*Bolts are likely to shear under stress from hitting other bots
*Addition of holes to rings add stress concentrator, increasing likelihood of failure

=====Welding Method=====
Advantages:
*Very strong joint between rings if done correctly
*Difficult to align rings and keep them aligned (flats were included on rings for this purpose, but a jig would still be required)
Disadvantages:
*A single piece means the whole thing must be replaced after damage
*Welding is hard lol

===Solid Concept===
Instead of doing the nested concept, we simply decided to kill the Earth and mill the shell out of a massive block of steel. With all the garnet required for the waterjet design, wasting 90% of a 200 steel block was still cheaper.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name

Cons:
*200 lbs of steel is heavy and our plan was to "just like, pick it up I guess" (Admin got mad)
*Shell exceeded the y axis on the HAAS which complicated the CAM
*The block is still sitting in the shop and it's getting lonely

===Belt-Driven vs Wheel-Driven===
*Two primary methods were considered for driving the weapon: a belt/sprocket and chain system or a wheel-based system.
**The belt was dismissed due to the various past issues, such as poor tensioning, temperature deviations, and general slipping.
**Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

== Chassis System ==
*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonki’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that aligning the shaft along the two blocks was incredibly difficult, and a single longer block would have proven to be a superior solution.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting surprisingly well as a pin.

== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| AeroStar Advance 120A HV (6~12S) Brushless ESC (Opto)
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 2x Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
2x Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

Chonki Design Guide

2021-05-30T03:37:22Z

Mnagaraj6: /* Solid Concept */

Chonki Design Guide

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:(Image filename)|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 1.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2020-2021}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/0}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|0/0}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{TBA|0 RPM on a pallet}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}
== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big..." Throughout the design process the robot lived up to its name. Chonki is a 45lb shuffling shell spinner competing in the 30lb weight class. It was developed during 2020-2021. The drive system was iterated from that of Apachi. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 time weight multiplier afforded by using a mechanism other than wheels for movement. Has not been to competition due to COVID cancellation, but showed promise during development.

Members:
*Brian Epstein (Lead)
*Dylan Fife (Mentor)
*Mihir Nagaraj
*Mesum Zaidi
*Emily Liu
*Janie Edgar
*Celina Huang
*Martha Leach
*Cole Sosnowski
*Colin Lyman

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 HDPE feet. The feet sit on two parallel, octagonal cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have chamfers to clear the rollers and support which they sit under. The cams have offset octagonal holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

== Weapon System ==
===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Nested Concept===
Originally the shell was designed as a series of rings with progressively increasing diameters. The method of joining these rings together was thoroughly discussed. The two primary options were use of fasteners and through welding. This concept was advantageous because it allowed for the rings to be cut from sheets using the waterjet
=====Fastener Method=====
Advantages:
*Avoids need to use welding (process with which we had little experience)
*Simple to align via hole placement in ring
Easy to replace damaged bolts and or rings
Disadvantages:
*Bolts are likely to shear under stress from hitting other bots
*Addition of holes to rings add stress concentrator, increasing likelihood of failure

=====Welding Method=====
Advantages:
*Very strong joint between rings if done correctly
*Difficult to align rings and keep them aligned (flats were included on rings for this purpose, but a jig would still be required)
Disadvantages:
*A single piece means the whole thing must be replaced after damage
*Welding is hard lol

===Solid Concept===
Instead of doing the nested concept, we simply decided to kill the Earth and mill the shell out of a massive block of steel. With all the garnet required for the waterjet design, wasting 90% of a 200 steel block was still cheaper.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at
*Lives up the it's name

Cons:
*200 lbs of steel is heavy and our plan was to "just like, pick it up I guess"
*Shell exceeded the y axis on the HAAS which complicated the CAM
*The block is still sitting in the shop and it's getting lonely

===Belt-Driven vs Wheel-Driven===
*Two primary methods were considered for driving the weapon: a belt/sprocket and chain system or a wheel-based system.
**The belt was dismissed due to the various past issues, such as poor tensioning, temperature deviations, and general slipping.
**Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

== Chassis System ==
*The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
*The front and back plates were made of HDPE, which bent to form Chonki’s robustly round shape.
*The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
*The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that aligning the shaft along the two blocks was incredibly difficult, and a single longer block would have proven to be a superior solution.
**While drilling through the blocks into the shaft, a drill bit melted inside, acting surprisingly well as a pin.

== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| AeroStar Advance 120A HV (6~12S) Brushless ESC (Opto)
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 2x Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
2x Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

Chonki Design Guide

2021-05-30T03:27:52Z

Mnagaraj6: /* Solid Concept */

Chonki Design Guide

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:(Image filename)|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 1.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2020-2021}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/0}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|0/0}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{TBA|0 RPM on a pallet}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}
== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big..." Throughout the design process the robot lived up to its name. Chonki is a 45lb shuffling shell spinner competing in the 30lb weight class. It was developed during 2020-2021. The drive system was iterated from that of Apachi. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 time weight multiplier afforded by using a mechanism other than wheels for movement. Has not been to competition due to COVID cancellation, but showed promise during development.

Members:
*Brian Epstein (Lead)
*Dylan Fife (Mentor)
*Mihir Nagaraj
*Mesum Zaidi
*Emily Liu
*Janie Edgar
*Celina Huang
*Martha Leach
*Cole Sosnowski
*Colin Lyman

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 HDPE feet. The feet sit on two parallel, octagonal cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have chamfers to clear the rollers and support which they sit under. The cams have offset octagonal holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

== Weapon System ==
===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Nested Concept===
Originally the shell was designed as a series of rings with progressively increasing diameters. The method of joining these rings together was thoroughly discussed. The two primary options were use of fasteners and through welding. This concept was advantageous because it allowed for the rings to be cut from sheets using the waterjet
=====Fastener Method=====
Advantages:
*Avoids need to use welding (process with which we had little experience)
*Simple to align via hole placement in ring
Easy to replace damaged bolts and or rings
Disadvantages:
*Bolts are likely to shear under stress from hitting other bots
*Addition of holes to rings add stress concentrator, increasing likelihood of failure

=====Welding Method=====
Advantages:
*Very strong joint between rings if done correctly
*Difficult to align rings and keep them aligned (flats were included on rings for this purpose, but a jig would still be required)
Disadvantages:
*A single piece means the whole thing must be replaced after damage
*Welding is hard lol

===Solid Concept===
Instead of doing the nested concept, we simply decided to kill the Earth and mill the shell out of a massive block of steel. With all the garnet required for the waterjet design, wasting 90% of a 200 steel block was still cheaper.

Pros:
*Less expensive than the nested ring design
*Made from one solid piece so it didn't have connection points to fail at

===Belt-Driven vs Wheel-Driven===
*Two primary methods were considered for driving the weapon: a belt/sprocket and chain system or a wheel-based system.
**The belt was dismissed due to the various past issues, such as poor tensioning, temperature deviations, and general slipping.
**Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

== Chassis System ==
== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| AeroStar Advance 120A HV (6~12S) Brushless ESC (Opto)
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 2x Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
2x Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

Chonki Design Guide

2021-05-30T03:25:01Z

Mnagaraj6: /* Solid Concept */

Chonki Design Guide

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:(Image filename)|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 1.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2020-2021}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/0}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|0/0}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{TBA|0 RPM on a pallet}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}
== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big..." Throughout the design process the robot lived up to its name. Chonki is a 45lb shuffling shell spinner competing in the 30lb weight class. It was developed during 2020-2021. The drive system was iterated from that of Apachi. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 time weight multiplier afforded by using a mechanism other than wheels for movement. Has not been to competition due to COVID cancellation, but showed promise during development.

Members:
*Brian Epstein (Lead)
*Dylan Fife (Mentor)
*Mihir Nagaraj
*Mesum Zaidi
*Emily Liu
*Janie Edgar
*Celina Huang
*Martha Leach
*Cole Sosnowski
*Colin Lyman

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 HDPE feet. The feet sit on two parallel, octagonal cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have chamfers to clear the rollers and support which they sit under. The cams have offset octagonal holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

== Weapon System ==
===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Nested Concept===
Originally the shell was designed as a series of rings with progressively increasing diameters. The method of joining these rings together was thoroughly discussed. The two primary options were use of fasteners and through welding. This concept was advantageous because it allowed for the rings to be cut from sheets using the waterjet
=====Fastener Method=====
Advantages:
*Avoids need to use welding (process with which we had little experience)
*Simple to align via hole placement in ring
Easy to replace damaged bolts and or rings
Disadvantages:
*Bolts are likely to shear under stress from hitting other bots
*Addition of holes to rings add stress concentrator, increasing likelihood of failure

=====Welding Method=====
Pros:
*Very strong joint between rings if done correctly
*Difficult to align rings and keep them aligned (flats were included on rings for this purpose, but a jig would still be required)
Cons:
*A single piece means the whole thing must be replaced after damage
*Welding is hard lol

===Solid Concept===
Instead of doing the nested concept, we simply decided to kill the Earth and mill the shell out of a massive block of steel. With all the garnet required for the waterjet design, wasting 90% of a 200 steel block was still cheaper.
|-
Pros:

===Belt-Driven vs Wheel-Driven===
*Two primary methods were considered for driving the weapon: a belt/sprocket and chain system or a wheel-based system.
**The belt was dismissed due to the various past issues, such as poor tensioning, temperature deviations, and general slipping.
**Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

== Chassis System ==
== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| AeroStar Advance 120A HV (6~12S) Brushless ESC (Opto)
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 2x Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
2x Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

Chonki Design Guide

2021-05-30T03:23:14Z

Mnagaraj6: /* Solid Concept */

Chonki Design Guide

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:(Image filename)|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 1.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2020-2021}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/0}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|0/0}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{TBA|0 RPM on a pallet}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}
== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big..." Throughout the design process the robot lived up to its name. Chonki is a 45lb shuffling shell spinner competing in the 30lb weight class. It was developed during 2020-2021. The drive system was iterated from that of Apachi. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 time weight multiplier afforded by using a mechanism other than wheels for movement. Has not been to competition due to COVID cancellation, but showed promise during development.

Members:
*Brian Epstein (Lead)
*Dylan Fife (Mentor)
*Mihir Nagaraj
*Mesum Zaidi
*Emily Liu
*Janie Edgar
*Celina Huang
*Martha Leach
*Cole Sosnowski
*Colin Lyman

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 HDPE feet. The feet sit on two parallel, octagonal cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have chamfers to clear the rollers and support which they sit under. The cams have offset octagonal holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

== Weapon System ==
===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Belt-Driven vs Wheel-Driven===
*Two primary methods were considered for driving the weapon: a belt/sprocket and chain system or a wheel-based system.
**The belt was dismissed due to the various past issues, such as poor tensioning, temperature deviations, and general slipping.
**Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

===Nested Concept===
Originally the shell was designed as a series of rings with progressively increasing diameters. The method of joining these rings together was thoroughly discussed. The two primary options were use of fasteners and through welding. This concept was advantageous because it allowed for the rings to be cut from sheets using the waterjet
=====Fastener Method=====
Advantages:
*Avoids need to use welding (process with which we had little experience)
*Simple to align via hole placement in ring
Easy to replace damaged bolts and or rings
Disadvantages:
*Bolts are likely to shear under stress from hitting other bots
*Addition of holes to rings add stress concentrator, increasing likelihood of failure

=====Welding Method=====
Pros:
*Very strong joint between rings if done correctly
*Difficult to align rings and keep them aligned (flats were included on rings for this purpose, but a jig would still be required)
Cons:
*A single piece means the whole thing must be replaced after damage
*Welding is hard lol

===Solid Concept===
Instead of doing the nested concept, we simply decided to kill the Earth and mill the shell out of a massive block of steel. With all the garnet required for the waterjet design, wasting 90% of a 200 steel block was still cheaper.

== Chassis System ==
== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| AeroStar Advance 120A HV (6~12S) Brushless ESC (Opto)
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 2x Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
2x Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

Chonki Design Guide

2021-05-30T03:20:19Z

Mnagaraj6: /* Drive System */

Chonki Design Guide

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:(Image filename)|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 1.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2020-2021}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/0}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|0/0}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{TBA|0 RPM on a pallet}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}
== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big..." Throughout the design process the robot lived up to its name. Chonki is a 45lb shuffling shell spinner competing in the 30lb weight class. It was developed during 2020-2021. The drive system was iterated from that of Apachi. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 time weight multiplier afforded by using a mechanism other than wheels for movement. Has not been to competition due to COVID cancellation, but showed promise during development.

Members:
*Brian Epstein (Lead)
*Dylan Fife (Mentor)
*Mihir Nagaraj
*Mesum Zaidi
*Emily Liu
*Janie Edgar
*Celina Huang
*Martha Leach
*Cole Sosnowski
*Colin Lyman

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 HDPE feet. The feet sit on two parallel, octagonal cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have chamfers to clear the rollers and support which they sit under. The cams have offset octagonal holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks. The use of the shuffling system allowed Chonki a weight bonus, bringing the max weight to 45 lbs.

== Weapon System ==
===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Nested Concept===
Originally the shell was designed as a series of rings with progressively increasing diameters. The method of joining these rings together was thoroughly discussed. The two primary options were use of fasteners and through welding. Some advantages of this method were that it
=====Fastener Method=====
Advantages:
*Avoids need to use welding (process with which we had little experience)
*Simple to align via hole placement in ring
Easy to replace damaged bolts and or rings
Disadvantages:
*Bolts are likely to shear under stress from hitting other bots
*Addition of holes to rings add stress concentrator, increasing likelihood of failure

=====Welding Method=====
Pros:
*Very strong joint between rings if done correctly
*Difficult to align rings and keep them aligned (flats were included on rings for this purpose, but a jig would still be required)
Cons:
*A single piece means the whole thing must be replaced after damage
*Welding is hard lol

==Solid Concept==
Instead of doing the nested concept, we simply decided to kill the Earth and mill the shell out of a massive block of steel.

== Chassis System ==
== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| AeroStar Advance 120A HV (6~12S) Brushless ESC (Opto)
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 2x Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
2x Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

Chonki Design Guide

2021-05-30T03:18:58Z

Mnagaraj6: /* Drive System */

Chonki Design Guide

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Chonki
|-
! scope="row" colspan="2" | [[File:(Image filename)|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 1.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2020-2021}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/0}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|0/0}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{TBA|0 RPM on a pallet}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}
== Introduction ==
This robot had a name before a design. It born when Brian thought to himself, "Hey, it would be really funny if we named a robot Chonki and made it really, really big..." Throughout the design process the robot lived up to its name. Chonki is a 45lb shuffling shell spinner competing in the 30lb weight class. It was developed during 2020-2021. The drive system was iterated from that of Apachi. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 time weight multiplier afforded by using a mechanism other than wheels for movement. Has not been to competition due to COVID cancellation, but showed promise during development.

Members:
*Brian Epstein (Lead)
*Dylan Fife (Mentor)
*Mihir Nagaraj
*Mesum Zaidi
*Emily Liu
*Janie Edgar
*Celina Huang
*Martha Leach
*Cole Sosnowski
*Colin Lyman

== Drive System ==
Chonki utilizes a shuffler system for drive. It consists of two shuffler modules, each with 4 HDPE feet. The feet sit on two parallel, octagonal cam shafts. These allowed for the four feet to be positioned 90 degrees from each other, so feet would always be in contact with the ground through the cam shaft's rotation. To fit inside the feet get smaller as they move away from the chassis. The longer feet have chamfers to clear the rollers and support which they sit under. The cams have offset octagonal holes to accommodate the shafts and sit inside circular cutouts in the feet, which keep them parallel with the ground as it walks.

== Weapon System ==
===Design Considerations===
Since the weapon on this bot also serves as its armor, it was imperative that the weapon be large enough for the robot to fit inside. An additional constraint was that it must be small enough that a reasonable thickness could be attained while still remaining under the desired percentage of the total weight of the robot (~50%).

===Nested Concept===
Originally the shell was designed as a series of rings with progressively increasing diameters. The method of joining these rings together was thoroughly discussed. The two primary options were use of fasteners and through welding. Some advantages of this method were that it
=====Fastener Method=====
Pros:
*Avoids need to use welding (process with which we had little experience)
*Simple to align via hole placement in ring
Easy to replace damaged bolts and or rings
Cons:
*Bolts are likely to shear under stress from hitting other bots
*Addition of holes to rings add stress concentrator, increasing likelihood of failure
=====Welding Method=====
Pros:
*Very strong joint between rings if done correctly
*Difficult to align rings and keep them aligned (flats were included on rings for this purpose, but a jig would still be required)
Cons:
*A single piece means the whole thing must be replaced after damage
*Welding is hard lol

==Solid Concept==
Instead of doing the nested concept, we simply decided to kill the Earth and mill the shell out of a massive block of steel.

== Chassis System ==
== Electronics ==
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy Aerodrive SK3 - 5055-280KV Brushless Outrunner Motor
 
|-
| Drive Motor Controllers
| Flipsky Dual FSESC6.6 Based upon VESC6 with Aluminum Heatsink Mini Size
|-
| Weapon Motor
| Scorpion SII-4035-250KV
|-
| Weapon Motor Controllers
| AeroStar Advance 120A HV (6~12S) Brushless ESC (Opto)
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 2x Turnigy Heavy Duty 5000mAh 6S 60C LiPo Pack w/XT90
2x Turnigy Graphene Panther 3000mAh 3S 75C Battery Pack w/XT90
|-
|}

Chonki Design Guide

2021-05-30T02:50:49Z

Mnagaraj6: /* Drive System */

Chonki Design Guide

2021-05-30T02:34:42Z

Mnagaraj6:

Chonki Design Guide

2021-05-30T02:33:59Z

Mnagaraj6:

Apachi

2021-05-30T02:31:45Z

Mnagaraj6:

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Apachi V 1.0
|-
! scope="row" colspan="2" | [[File:(Image filename)|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2019-2020}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 1.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2019-2020}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/2}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|Hobbyweight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Bent Bar/Overhead Bar}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|0/2}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{TBA|Around 800?}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Won the 12lb rumble}}}
|}

Apachi is the first iteration of a 18 lb Bent Bar Shuffler. The purpose of this guide is to explain all of the reasoning behind the design decisions during the creation of Apachi. This guide will go in depth on why certain designs were chosen as well as explaining some of the calculations used to support those decisions.

= Competitions =

=== [[Motorama_2020|Motorama 2020]] ===

*Results:
**Bracket Style: Double Elimination
***[https://www.youtube.com/watch?v=4EF5xSx4SoU Loss vs Isoletus Rex]
****(notes)
****(observations))
***[https://www.youtube.com/watch?v=rju3jr9nEPE Loss vs First Contact]
**Bracket Style: Rumble
***No Video at the moment, check the motorama youtube channel (Just click on one of the links above)
****We won by surviving and having a large crowd to cheer us

= Apachi V1.0 =
Created by: Afshan Chandani, Cory Stine, Dylan Adriano, Dylan Fife, Hank Hellstrom, Eli Tiemann, Marland Micket

{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy 540L V-Spec Inrunner 810kv 
|-
| Drive Motor Controllers
| HobbyKing Brushless Car ESC 2S-4S
|-
| Weapon Motor
| Scorpion SII-4025-520KV
|-
| Weapon Motor Controllers
| YEP 100A (2~6S) SBEC Brushless Speed Controller
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 2x Turnigy 2200mAh 4S 30C Lipo Pack
|-
| (OTHER:)
| MS-05 Switch
|-
|}

=== Chassis ===

====Design Overview====
The chassis for Apachi had to solve a couple of problems. First, it had to be contained within the bounding circle made by the bent bar weapon. Second, the chassis needed to securely hold the weapon due to the high loads from our large moment arm. Third, we wanted to have easy access to the foot modules in order to troubleshoot problems.

====Design Decisions====
*For the first problem, the geometry of our feet had a large impact on our chassis shape. our feet were long straight lines that we wanted as far as we could get to the outside. We considered making a plus shaped chassis to maximize our space, but were concerned it would increase our wobble which would be especially bad because of our weapon hitting the ground. We chose a rectangular design.

*In order to secure the weapon, we added two steel supporting bars to hold the weapon shaft. We don't have much evidence that this worked because our weapon snapped every time we hit something full force, but these supports did not fail.

*In order to access our feet modules, we considered two options. The first option was to create a modular bounding box that could easily connect or be replaced. This would require a more complex interface between the module and the internal drive motor and geartrain. The main benefit of this is the plug-and-play nature leading to easy swaps. The second option, which we opted for, was to primarily focus on the side plates being easily removable and the feet accessible from there. While this meant the robot would be down whenever we needed to access the feet, it simplified the rest of the design and number of parts.

====Evaluation====
Some main chassis takeaways from our experience were:
*Pre-planning electronics could have saved a lot of pain
*Integrating a center bar with a shuffler heavily constrains design
*Using nonstandard dimensions to save a tiny amount of weight is annoying during machining
*It is worth double checking electronics hole dimensions

=== Drive Assembly ===
====Overview====
Apachi’s Drive system was a shuffler drive. This consisted of 2 symmetrical shuffler modules. Each shuffler module consisted of 6 HDPE feet with bearings pressed into them, and a hex shaft with aluminum cams clocked at 60 degree intervals. The feet were pressed onto the cams to create a cascading motion when the camshaft was rotated. The camshaft was driven by a spur gear and a pinion attached to an inrunner motor. Both sides were symmetrical such that there were always 2 feet on the ground at any given point in time.

====Design Decisions====
The decision to make a shuffler system was in order for Battlebots as a whole to gain more knowledge of this new drive and take advantage of the 50% weight bonus, along with the traction advantage of more ground surface area. The decision to make 6 feet per side was due to the thought that producing identical cams with hex profiles would be the easiest way to manufacture the system. The feet were made of HDPE, the cams were made of aluminum, and the shaft was made of steel. The cams were designed to be a failure point, the thought being that their hex profiles would be rounded by the turning of the shaft. Because of this, the shuffler modules were designed to be easy to assemble. By taking off the outer side plate, the shuffler module is accessible as a stack of feet/spacers on the 2 shafts.

====Calculations====
[https://drive.google.com/file/d/1180Qxw9OBa18za8L7Cr7c5LujhyiaMad/view?usp=sharing Link to spreadsheet]
Our calculations showed that a 4 foot design would be very slightly better, but we opted for the 6 foot design because we thought that the hex shaft would be easier to machine

====Evaluation====
*The shuffler drive worked a lot better than expected. Its mobility and controllability were much better than initially thought, and our weapon choice in hindsight did not need to be so driven by our perceived lack of mobility. The cam manufacturing was harder than expected. Due to the thickness of the cams and the necessary straightness of the hex cutouts, the Invention Studio’s 5 axis waterjet was required, including testing and cutting with an angle to compensate for the taper. In future designs, looking into EDMing the cams would be a good idea. The manufacturing of the hex shafts was also difficult, due to the rotating hex the tools took a lot of stress until the points were turned away. Looking back, a design with 4 feet per side could have also been used. While complicating parts, its weight savings, bearing savings, and potential easing of manufacturing would potentially be beneficial. Overall, the design exceeded expectations, while the manufacturing could have been optimized.

*As for performance in competition, the vibration caused by the drive system during competition caused screws to come loose very often. Systems using shufflers in the future should attempt to minimize screws for other fastening methods when possible.

*When adding additional weight on top of Apachi, it was determined that Apachi could drive with up to a total of 45-50 pounds.

===Weapon Assembly===
====Overview====
Apachi utilized an overhead bent bar weapon, which is a bar situated above the robot with bent sections that would descend toward the floor to a level where it could strike other robots. Advantages of this style of weapon are a high moment arm, 360 degree strike area, and potential to act as armor in the event of a hit. Disadvantages are a high mass arm requiring reinforcement at the point of rotation, non invertibility of the weapon, and a tall system. The weapon transmission consisted of an outrunner motor with a V belt and pulley, which interfaced with a pulley on a central shaft held by a key and set screw. The central shaft attached to the weapon through another key.

====Design Decisions====
The selection of an overhead bar was due to the unknown mobility of our shuffler module. With our ability to move and have our weapon facing the opponent in question, it was decided to make up for the potential vulnerability with a weapon that was dangerous from all sides. A ring was discarded due to the rectangular nature of shuffle modules, and an overhead bar was selected as a weapon. The lack of invertibility was not considered a problem. The weapon transmission system was largely designed around space concerns, with the outrunner motor having its pulley mounted on top and using keys and set-screws instead of profiles for more robust connections.

====Calculations====
Get angry at Cory and make him fill this in
====Evaluation====
Multiple weaknesses made it into the design that ultimately resulted in catastrophic failure at multiple points. Specific design failures were selection of a weapon that required stable movement, as the overhead bar (even with a half inch of clearance) would impact the ground due to how a shuffler moves, and massive underestimation of the forces involved with such a high moment weapon. The main drive shaft proved to be too thin to handle the impact of the weapon, and there wasn't enough reinforcement to the connection point between the shaft and weapon to absorb the impact, resulting in the bending of the exposed section of shaft (roughly 0.5”) and the fracture of the weapon. Another point of failure was the level of hardening to the weapon; the bar was over hardened to withstand the subjected forces, resulting in fractures originating in the keyway of the shaft. The key of the shaft itself surprisingly survived the impacts, as it was believed that would be the point of failure. The weapon transmission also presented some weaknesses, with the double set screw attachment on the weapon motor a decision made out of necessity as opposed to being a robust connection. Overall the weapon system had some major design flaws that were not caught or excused due to the design constraints already in place. In a new iteration a new weapon design would be recommended.

When a flail becomes a viable alternative, you have made a <strike>mistake</strike> beautiful robot

===Electronics===
====Overview====
Apachi’s electrical system consisted of two 4 cell lithium polymer batteries, two brushless electronic speed controllers (ESCs) designed for RC cars which controlled the drive motors, and a different brushless ESC which controlled the weapon motor. The circuits for the weapon system and the drive system were isolated with each having its own battery and power switch. There was also a receiver which sent pwm signals to the speed controllers.

====Design Decisions====
Multiple batteries were used in order to most efficiently utilize the space inside of the robot while providing the large current required by the motors. RC car ESCs were selected for the drive motors due to their ability to run motors in reverse which is not a standard feature of brushless ESCs. The ability to reverse was not necessary for the weapon so a standard ESC was chosen. The specific voltage, capacity, and maximum current for the batteries were determined based on the drive and weapon calculation spreadsheets discussed earlier. The ESC specifications were determined based on the voltage of the batteries and the maximum current draw of the motors.

====Calculations====
See the other calculation sections

====Evaluation====
Based on the voltage level of the batteries after running for an entire match, they seem to be appropriately specced. More in depth testing was going to be done to determine whether battery specs, and therefore size and weight, could be decreased but these tests were unable to be completed. Additionally there were concerns about the weapon being underpowered due to the inability to spin such a large moment to high speeds. This could potentially be solved by some creative wiring solutions that were going to be tested but again were not. The wiring of this robot was somewhat tricky due to there being many spinning things inside the robot that the wires needed to avoid.

= See also =
<ul style="line-height: 20.7999992370605px;">
<li>[(link to other bot made this year) (Name of other bot made this year)]</li>
</ul>

= Notes: =

(random joke, optional)

Naming Inspiration: It kinda looks like a helicopter

Apachi used the side plates of [https://wiki.robojackets.org/Spooki Spooki] as weapons of the flail
[[Category:HobbyWeights]]

Apachi

2021-05-30T02:27:17Z

Mnagaraj6:

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Apachi V 1.0
|-
! scope="row" colspan="2" | [[File:(Image filename)|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2020-2021}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 1.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2019-2020}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/0}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|0/0}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{TBA|0 RPM on a pallet}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}

Apachi is the first iteration of a 18 lb Bent Bar Shuffler. The purpose of this guide is to explain all of the reasoning behind the design decisions during the creation of Apachi. This guide will go in depth on why certain designs were chosen as well as explaining some of the calculations used to support those decisions.

= Competitions =

=== [[Motorama_2020|Motorama 2020]] ===

*Results:
**Bracket Style: Double Elimination
***[https://www.youtube.com/watch?v=4EF5xSx4SoU Loss vs Isoletus Rex]
****(notes)
****(observations))
***[https://www.youtube.com/watch?v=rju3jr9nEPE Loss vs First Contact]
**Bracket Style: Rumble
***No Video at the moment, check the motorama youtube channel (Just click on one of the links above)
****We won by surviving and having a large crowd to cheer us

= Apachi V1.0 =
Created by: Afshan Chandani, Cory Stine, Dylan Adriano, Dylan Fife, Hank Hellstrom, Eli Tiemann, Marland Micket

{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy 540L V-Spec Inrunner 810kv 
|-
| Drive Motor Controllers
| HobbyKing Brushless Car ESC 2S-4S
|-
| Weapon Motor
| Scorpion SII-4025-520KV
|-
| Weapon Motor Controllers
| YEP 100A (2~6S) SBEC Brushless Speed Controller
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 2x Turnigy 2200mAh 4S 30C Lipo Pack
|-
| (OTHER:)
| MS-05 Switch
|-
|}

=== Chassis ===

====Design Overview====
The chassis for Apachi had to solve a couple of problems. First, it had to be contained within the bounding circle made by the bent bar weapon. Second, the chassis needed to securely hold the weapon due to the high loads from our large moment arm. Third, we wanted to have easy access to the foot modules in order to troubleshoot problems.

====Design Decisions====
*For the first problem, the geometry of our feet had a large impact on our chassis shape. our feet were long straight lines that we wanted as far as we could get to the outside. We considered making a plus shaped chassis to maximize our space, but were concerned it would increase our wobble which would be especially bad because of our weapon hitting the ground. We chose a rectangular design.

*In order to secure the weapon, we added two steel supporting bars to hold the weapon shaft. We don't have much evidence that this worked because our weapon snapped every time we hit something full force, but these supports did not fail.

*In order to access our feet modules, we considered two options. The first option was to create a modular bounding box that could easily connect or be replaced. This would require a more complex interface between the module and the internal drive motor and geartrain. The main benefit of this is the plug-and-play nature leading to easy swaps. The second option, which we opted for, was to primarily focus on the side plates being easily removable and the feet accessible from there. While this meant the robot would be down whenever we needed to access the feet, it simplified the rest of the design and number of parts.

====Evaluation====
Some main chassis takeaways from our experience were:
*Pre-planning electronics could have saved a lot of pain
*Integrating a center bar with a shuffler heavily constrains design
*Using nonstandard dimensions to save a tiny amount of weight is annoying during machining
*It is worth double checking electronics hole dimensions

=== Drive Assembly ===
====Overview====
Apachi’s Drive system was a shuffler drive. This consisted of 2 symmetrical shuffler modules. Each shuffler module consisted of 6 HDPE feet with bearings pressed into them, and a hex shaft with aluminum cams clocked at 60 degree intervals. The feet were pressed onto the cams to create a cascading motion when the camshaft was rotated. The camshaft was driven by a spur gear and a pinion attached to an inrunner motor. Both sides were symmetrical such that there were always 2 feet on the ground at any given point in time.

====Design Decisions====
The decision to make a shuffler system was in order for Battlebots as a whole to gain more knowledge of this new drive and take advantage of the 50% weight bonus, along with the traction advantage of more ground surface area. The decision to make 6 feet per side was due to the thought that producing identical cams with hex profiles would be the easiest way to manufacture the system. The feet were made of HDPE, the cams were made of aluminum, and the shaft was made of steel. The cams were designed to be a failure point, the thought being that their hex profiles would be rounded by the turning of the shaft. Because of this, the shuffler modules were designed to be easy to assemble. By taking off the outer side plate, the shuffler module is accessible as a stack of feet/spacers on the 2 shafts.

====Calculations====
[https://drive.google.com/file/d/1180Qxw9OBa18za8L7Cr7c5LujhyiaMad/view?usp=sharing Link to spreadsheet]
Our calculations showed that a 4 foot design would be very slightly better, but we opted for the 6 foot design because we thought that the hex shaft would be easier to machine

====Evaluation====
*The shuffler drive worked a lot better than expected. Its mobility and controllability were much better than initially thought, and our weapon choice in hindsight did not need to be so driven by our perceived lack of mobility. The cam manufacturing was harder than expected. Due to the thickness of the cams and the necessary straightness of the hex cutouts, the Invention Studio’s 5 axis waterjet was required, including testing and cutting with an angle to compensate for the taper. In future designs, looking into EDMing the cams would be a good idea. The manufacturing of the hex shafts was also difficult, due to the rotating hex the tools took a lot of stress until the points were turned away. Looking back, a design with 4 feet per side could have also been used. While complicating parts, its weight savings, bearing savings, and potential easing of manufacturing would potentially be beneficial. Overall, the design exceeded expectations, while the manufacturing could have been optimized.

*As for performance in competition, the vibration caused by the drive system during competition caused screws to come loose very often. Systems using shufflers in the future should attempt to minimize screws for other fastening methods when possible.

*When adding additional weight on top of Apachi, it was determined that Apachi could drive with up to a total of 45-50 pounds.

===Weapon Assembly===
====Overview====
Apachi utilized an overhead bent bar weapon, which is a bar situated above the robot with bent sections that would descend toward the floor to a level where it could strike other robots. Advantages of this style of weapon are a high moment arm, 360 degree strike area, and potential to act as armor in the event of a hit. Disadvantages are a high mass arm requiring reinforcement at the point of rotation, non invertibility of the weapon, and a tall system. The weapon transmission consisted of an outrunner motor with a V belt and pulley, which interfaced with a pulley on a central shaft held by a key and set screw. The central shaft attached to the weapon through another key.

====Design Decisions====
The selection of an overhead bar was due to the unknown mobility of our shuffler module. With our ability to move and have our weapon facing the opponent in question, it was decided to make up for the potential vulnerability with a weapon that was dangerous from all sides. A ring was discarded due to the rectangular nature of shuffle modules, and an overhead bar was selected as a weapon. The lack of invertibility was not considered a problem. The weapon transmission system was largely designed around space concerns, with the outrunner motor having its pulley mounted on top and using keys and set-screws instead of profiles for more robust connections.

====Calculations====
Get angry at Cory and make him fill this in
====Evaluation====
Multiple weaknesses made it into the design that ultimately resulted in catastrophic failure at multiple points. Specific design failures were selection of a weapon that required stable movement, as the overhead bar (even with a half inch of clearance) would impact the ground due to how a shuffler moves, and massive underestimation of the forces involved with such a high moment weapon. The main drive shaft proved to be too thin to handle the impact of the weapon, and there wasn't enough reinforcement to the connection point between the shaft and weapon to absorb the impact, resulting in the bending of the exposed section of shaft (roughly 0.5”) and the fracture of the weapon. Another point of failure was the level of hardening to the weapon; the bar was over hardened to withstand the subjected forces, resulting in fractures originating in the keyway of the shaft. The key of the shaft itself surprisingly survived the impacts, as it was believed that would be the point of failure. The weapon transmission also presented some weaknesses, with the double set screw attachment on the weapon motor a decision made out of necessity as opposed to being a robust connection. Overall the weapon system had some major design flaws that were not caught or excused due to the design constraints already in place. In a new iteration a new weapon design would be recommended.

When a flail becomes a viable alternative, you have made a <strike>mistake</strike> beautiful robot

===Electronics===
====Overview====
Apachi’s electrical system consisted of two 4 cell lithium polymer batteries, two brushless electronic speed controllers (ESCs) designed for RC cars which controlled the drive motors, and a different brushless ESC which controlled the weapon motor. The circuits for the weapon system and the drive system were isolated with each having its own battery and power switch. There was also a receiver which sent pwm signals to the speed controllers.

====Design Decisions====
Multiple batteries were used in order to most efficiently utilize the space inside of the robot while providing the large current required by the motors. RC car ESCs were selected for the drive motors due to their ability to run motors in reverse which is not a standard feature of brushless ESCs. The ability to reverse was not necessary for the weapon so a standard ESC was chosen. The specific voltage, capacity, and maximum current for the batteries were determined based on the drive and weapon calculation spreadsheets discussed earlier. The ESC specifications were determined based on the voltage of the batteries and the maximum current draw of the motors.

====Calculations====
See the other calculation sections

====Evaluation====
Based on the voltage level of the batteries after running for an entire match, they seem to be appropriately specced. More in depth testing was going to be done to determine whether battery specs, and therefore size and weight, could be decreased but these tests were unable to be completed. Additionally there were concerns about the weapon being underpowered due to the inability to spin such a large moment to high speeds. This could potentially be solved by some creative wiring solutions that were going to be tested but again were not. The wiring of this robot was somewhat tricky due to there being many spinning things inside the robot that the wires needed to avoid.

= See also =
<ul style="line-height: 20.7999992370605px;">
<li>[(link to other bot made this year) (Name of other bot made this year)]</li>
</ul>

= Notes: =

(random joke, optional)

Naming Inspiration: It kinda looks like a helicopter

Apachi used the side plates of [https://wiki.robojackets.org/Spooki Spooki] as weapons of the flail
[[Category:HobbyWeights]]

Apachi

2021-05-30T02:27:03Z

Mnagaraj6:

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Apachi V 1.0
|-
! scope="row" colspan="2" | [[File:(Image filename)|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2019-2020}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 1.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2019-2020}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/0}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|0/0}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{TBA|0 RPM on a pallet}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}

Apachi is the first iteration of a 18 lb Bent Bar Shuffler. The purpose of this guide is to explain all of the reasoning behind the design decisions during the creation of Apachi. This guide will go in depth on why certain designs were chosen as well as explaining some of the calculations used to support those decisions.

= Competitions =

=== [[Motorama_2020|Motorama 2020]] ===

*Results:
**Bracket Style: Double Elimination
***[https://www.youtube.com/watch?v=4EF5xSx4SoU Loss vs Isoletus Rex]
****(notes)
****(observations))
***[https://www.youtube.com/watch?v=rju3jr9nEPE Loss vs First Contact]
**Bracket Style: Rumble
***No Video at the moment, check the motorama youtube channel (Just click on one of the links above)
****We won by surviving and having a large crowd to cheer us

= Apachi V1.0 =
Created by: Afshan Chandani, Cory Stine, Dylan Adriano, Dylan Fife, Hank Hellstrom, Eli Tiemann, Marland Micket

{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy 540L V-Spec Inrunner 810kv 
|-
| Drive Motor Controllers
| HobbyKing Brushless Car ESC 2S-4S
|-
| Weapon Motor
| Scorpion SII-4025-520KV
|-
| Weapon Motor Controllers
| YEP 100A (2~6S) SBEC Brushless Speed Controller
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 2x Turnigy 2200mAh 4S 30C Lipo Pack
|-
| (OTHER:)
| MS-05 Switch
|-
|}

=== Chassis ===

====Design Overview====
The chassis for Apachi had to solve a couple of problems. First, it had to be contained within the bounding circle made by the bent bar weapon. Second, the chassis needed to securely hold the weapon due to the high loads from our large moment arm. Third, we wanted to have easy access to the foot modules in order to troubleshoot problems.

====Design Decisions====
*For the first problem, the geometry of our feet had a large impact on our chassis shape. our feet were long straight lines that we wanted as far as we could get to the outside. We considered making a plus shaped chassis to maximize our space, but were concerned it would increase our wobble which would be especially bad because of our weapon hitting the ground. We chose a rectangular design.

*In order to secure the weapon, we added two steel supporting bars to hold the weapon shaft. We don't have much evidence that this worked because our weapon snapped every time we hit something full force, but these supports did not fail.

*In order to access our feet modules, we considered two options. The first option was to create a modular bounding box that could easily connect or be replaced. This would require a more complex interface between the module and the internal drive motor and geartrain. The main benefit of this is the plug-and-play nature leading to easy swaps. The second option, which we opted for, was to primarily focus on the side plates being easily removable and the feet accessible from there. While this meant the robot would be down whenever we needed to access the feet, it simplified the rest of the design and number of parts.

====Evaluation====
Some main chassis takeaways from our experience were:
*Pre-planning electronics could have saved a lot of pain
*Integrating a center bar with a shuffler heavily constrains design
*Using nonstandard dimensions to save a tiny amount of weight is annoying during machining
*It is worth double checking electronics hole dimensions

=== Drive Assembly ===
====Overview====
Apachi’s Drive system was a shuffler drive. This consisted of 2 symmetrical shuffler modules. Each shuffler module consisted of 6 HDPE feet with bearings pressed into them, and a hex shaft with aluminum cams clocked at 60 degree intervals. The feet were pressed onto the cams to create a cascading motion when the camshaft was rotated. The camshaft was driven by a spur gear and a pinion attached to an inrunner motor. Both sides were symmetrical such that there were always 2 feet on the ground at any given point in time.

====Design Decisions====
The decision to make a shuffler system was in order for Battlebots as a whole to gain more knowledge of this new drive and take advantage of the 50% weight bonus, along with the traction advantage of more ground surface area. The decision to make 6 feet per side was due to the thought that producing identical cams with hex profiles would be the easiest way to manufacture the system. The feet were made of HDPE, the cams were made of aluminum, and the shaft was made of steel. The cams were designed to be a failure point, the thought being that their hex profiles would be rounded by the turning of the shaft. Because of this, the shuffler modules were designed to be easy to assemble. By taking off the outer side plate, the shuffler module is accessible as a stack of feet/spacers on the 2 shafts.

====Calculations====
[https://drive.google.com/file/d/1180Qxw9OBa18za8L7Cr7c5LujhyiaMad/view?usp=sharing Link to spreadsheet]
Our calculations showed that a 4 foot design would be very slightly better, but we opted for the 6 foot design because we thought that the hex shaft would be easier to machine

====Evaluation====
*The shuffler drive worked a lot better than expected. Its mobility and controllability were much better than initially thought, and our weapon choice in hindsight did not need to be so driven by our perceived lack of mobility. The cam manufacturing was harder than expected. Due to the thickness of the cams and the necessary straightness of the hex cutouts, the Invention Studio’s 5 axis waterjet was required, including testing and cutting with an angle to compensate for the taper. In future designs, looking into EDMing the cams would be a good idea. The manufacturing of the hex shafts was also difficult, due to the rotating hex the tools took a lot of stress until the points were turned away. Looking back, a design with 4 feet per side could have also been used. While complicating parts, its weight savings, bearing savings, and potential easing of manufacturing would potentially be beneficial. Overall, the design exceeded expectations, while the manufacturing could have been optimized.

*As for performance in competition, the vibration caused by the drive system during competition caused screws to come loose very often. Systems using shufflers in the future should attempt to minimize screws for other fastening methods when possible.

*When adding additional weight on top of Apachi, it was determined that Apachi could drive with up to a total of 45-50 pounds.

===Weapon Assembly===
====Overview====
Apachi utilized an overhead bent bar weapon, which is a bar situated above the robot with bent sections that would descend toward the floor to a level where it could strike other robots. Advantages of this style of weapon are a high moment arm, 360 degree strike area, and potential to act as armor in the event of a hit. Disadvantages are a high mass arm requiring reinforcement at the point of rotation, non invertibility of the weapon, and a tall system. The weapon transmission consisted of an outrunner motor with a V belt and pulley, which interfaced with a pulley on a central shaft held by a key and set screw. The central shaft attached to the weapon through another key.

====Design Decisions====
The selection of an overhead bar was due to the unknown mobility of our shuffler module. With our ability to move and have our weapon facing the opponent in question, it was decided to make up for the potential vulnerability with a weapon that was dangerous from all sides. A ring was discarded due to the rectangular nature of shuffle modules, and an overhead bar was selected as a weapon. The lack of invertibility was not considered a problem. The weapon transmission system was largely designed around space concerns, with the outrunner motor having its pulley mounted on top and using keys and set-screws instead of profiles for more robust connections.

====Calculations====
Get angry at Cory and make him fill this in
====Evaluation====
Multiple weaknesses made it into the design that ultimately resulted in catastrophic failure at multiple points. Specific design failures were selection of a weapon that required stable movement, as the overhead bar (even with a half inch of clearance) would impact the ground due to how a shuffler moves, and massive underestimation of the forces involved with such a high moment weapon. The main drive shaft proved to be too thin to handle the impact of the weapon, and there wasn't enough reinforcement to the connection point between the shaft and weapon to absorb the impact, resulting in the bending of the exposed section of shaft (roughly 0.5”) and the fracture of the weapon. Another point of failure was the level of hardening to the weapon; the bar was over hardened to withstand the subjected forces, resulting in fractures originating in the keyway of the shaft. The key of the shaft itself surprisingly survived the impacts, as it was believed that would be the point of failure. The weapon transmission also presented some weaknesses, with the double set screw attachment on the weapon motor a decision made out of necessity as opposed to being a robust connection. Overall the weapon system had some major design flaws that were not caught or excused due to the design constraints already in place. In a new iteration a new weapon design would be recommended.

When a flail becomes a viable alternative, you have made a <strike>mistake</strike> beautiful robot

===Electronics===
====Overview====
Apachi’s electrical system consisted of two 4 cell lithium polymer batteries, two brushless electronic speed controllers (ESCs) designed for RC cars which controlled the drive motors, and a different brushless ESC which controlled the weapon motor. The circuits for the weapon system and the drive system were isolated with each having its own battery and power switch. There was also a receiver which sent pwm signals to the speed controllers.

====Design Decisions====
Multiple batteries were used in order to most efficiently utilize the space inside of the robot while providing the large current required by the motors. RC car ESCs were selected for the drive motors due to their ability to run motors in reverse which is not a standard feature of brushless ESCs. The ability to reverse was not necessary for the weapon so a standard ESC was chosen. The specific voltage, capacity, and maximum current for the batteries were determined based on the drive and weapon calculation spreadsheets discussed earlier. The ESC specifications were determined based on the voltage of the batteries and the maximum current draw of the motors.

====Calculations====
See the other calculation sections

====Evaluation====
Based on the voltage level of the batteries after running for an entire match, they seem to be appropriately specced. More in depth testing was going to be done to determine whether battery specs, and therefore size and weight, could be decreased but these tests were unable to be completed. Additionally there were concerns about the weapon being underpowered due to the inability to spin such a large moment to high speeds. This could potentially be solved by some creative wiring solutions that were going to be tested but again were not. The wiring of this robot was somewhat tricky due to there being many spinning things inside the robot that the wires needed to avoid.

= See also =
<ul style="line-height: 20.7999992370605px;">
<li>[(link to other bot made this year) (Name of other bot made this year)]</li>
</ul>

= Notes: =

(random joke, optional)

Naming Inspiration: It kinda looks like a helicopter

Apachi used the side plates of [https://wiki.robojackets.org/Spooki Spooki] as weapons of the flail
[[Category:HobbyWeights]]

Apachi

2021-05-30T02:26:18Z

Mnagaraj6:

{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Apachi V 1.0
|-
! scope="row" colspan="2" | [[File:(Image filename)|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2019-2020}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 1.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2019-2020}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/2}}}
|-
! 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|Shell Spinner}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|0/0}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{TBA|0 RPM on a pallet}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Chonk!!!}}}
|}

Apachi is the first iteration of a 18 lb Bent Bar Shuffler. The purpose of this guide is to explain all of the reasoning behind the design decisions during the creation of Apachi. This guide will go in depth on why certain designs were chosen as well as explaining some of the calculations used to support those decisions.

= Competitions =

=== [[Motorama_2020|Motorama 2020]] ===

*Results:
**Bracket Style: Double Elimination
***[https://www.youtube.com/watch?v=4EF5xSx4SoU Loss vs Isoletus Rex]
****(notes)
****(observations))
***[https://www.youtube.com/watch?v=rju3jr9nEPE Loss vs First Contact]
**Bracket Style: Rumble
***No Video at the moment, check the motorama youtube channel (Just click on one of the links above)
****We won by surviving and having a large crowd to cheer us

= Apachi V1.0 =
Created by: Afshan Chandani, Cory Stine, Dylan Adriano, Dylan Fife, Hank Hellstrom, Eli Tiemann, Marland Micket

{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
|-
| Drive Motors
| Turnigy 540L V-Spec Inrunner 810kv 
|-
| Drive Motor Controllers
| HobbyKing Brushless Car ESC 2S-4S
|-
| Weapon Motor
| Scorpion SII-4025-520KV
|-
| Weapon Motor Controllers
| YEP 100A (2~6S) SBEC Brushless Speed Controller
|-
| Receiver
| Hobby King 2.4Ghz Receiver 6Ch V2 
|-
| Remote Control
| Hobby King 2.4Ghz 6Ch Tx and Rx V2 
|-
| Battery
| 2x Turnigy 2200mAh 4S 30C Lipo Pack
|-
| (OTHER:)
| MS-05 Switch
|-
|}

=== Chassis ===

====Design Overview====
The chassis for Apachi had to solve a couple of problems. First, it had to be contained within the bounding circle made by the bent bar weapon. Second, the chassis needed to securely hold the weapon due to the high loads from our large moment arm. Third, we wanted to have easy access to the foot modules in order to troubleshoot problems.

====Design Decisions====
*For the first problem, the geometry of our feet had a large impact on our chassis shape. our feet were long straight lines that we wanted as far as we could get to the outside. We considered making a plus shaped chassis to maximize our space, but were concerned it would increase our wobble which would be especially bad because of our weapon hitting the ground. We chose a rectangular design.

*In order to secure the weapon, we added two steel supporting bars to hold the weapon shaft. We don't have much evidence that this worked because our weapon snapped every time we hit something full force, but these supports did not fail.

*In order to access our feet modules, we considered two options. The first option was to create a modular bounding box that could easily connect or be replaced. This would require a more complex interface between the module and the internal drive motor and geartrain. The main benefit of this is the plug-and-play nature leading to easy swaps. The second option, which we opted for, was to primarily focus on the side plates being easily removable and the feet accessible from there. While this meant the robot would be down whenever we needed to access the feet, it simplified the rest of the design and number of parts.

====Evaluation====
Some main chassis takeaways from our experience were:
*Pre-planning electronics could have saved a lot of pain
*Integrating a center bar with a shuffler heavily constrains design
*Using nonstandard dimensions to save a tiny amount of weight is annoying during machining
*It is worth double checking electronics hole dimensions

=== Drive Assembly ===
====Overview====
Apachi’s Drive system was a shuffler drive. This consisted of 2 symmetrical shuffler modules. Each shuffler module consisted of 6 HDPE feet with bearings pressed into them, and a hex shaft with aluminum cams clocked at 60 degree intervals. The feet were pressed onto the cams to create a cascading motion when the camshaft was rotated. The camshaft was driven by a spur gear and a pinion attached to an inrunner motor. Both sides were symmetrical such that there were always 2 feet on the ground at any given point in time.

====Design Decisions====
The decision to make a shuffler system was in order for Battlebots as a whole to gain more knowledge of this new drive and take advantage of the 50% weight bonus, along with the traction advantage of more ground surface area. The decision to make 6 feet per side was due to the thought that producing identical cams with hex profiles would be the easiest way to manufacture the system. The feet were made of HDPE, the cams were made of aluminum, and the shaft was made of steel. The cams were designed to be a failure point, the thought being that their hex profiles would be rounded by the turning of the shaft. Because of this, the shuffler modules were designed to be easy to assemble. By taking off the outer side plate, the shuffler module is accessible as a stack of feet/spacers on the 2 shafts.

====Calculations====
[https://drive.google.com/file/d/1180Qxw9OBa18za8L7Cr7c5LujhyiaMad/view?usp=sharing Link to spreadsheet]
Our calculations showed that a 4 foot design would be very slightly better, but we opted for the 6 foot design because we thought that the hex shaft would be easier to machine

====Evaluation====
*The shuffler drive worked a lot better than expected. Its mobility and controllability were much better than initially thought, and our weapon choice in hindsight did not need to be so driven by our perceived lack of mobility. The cam manufacturing was harder than expected. Due to the thickness of the cams and the necessary straightness of the hex cutouts, the Invention Studio’s 5 axis waterjet was required, including testing and cutting with an angle to compensate for the taper. In future designs, looking into EDMing the cams would be a good idea. The manufacturing of the hex shafts was also difficult, due to the rotating hex the tools took a lot of stress until the points were turned away. Looking back, a design with 4 feet per side could have also been used. While complicating parts, its weight savings, bearing savings, and potential easing of manufacturing would potentially be beneficial. Overall, the design exceeded expectations, while the manufacturing could have been optimized.

*As for performance in competition, the vibration caused by the drive system during competition caused screws to come loose very often. Systems using shufflers in the future should attempt to minimize screws for other fastening methods when possible.

*When adding additional weight on top of Apachi, it was determined that Apachi could drive with up to a total of 45-50 pounds.

===Weapon Assembly===
====Overview====
Apachi utilized an overhead bent bar weapon, which is a bar situated above the robot with bent sections that would descend toward the floor to a level where it could strike other robots. Advantages of this style of weapon are a high moment arm, 360 degree strike area, and potential to act as armor in the event of a hit. Disadvantages are a high mass arm requiring reinforcement at the point of rotation, non invertibility of the weapon, and a tall system. The weapon transmission consisted of an outrunner motor with a V belt and pulley, which interfaced with a pulley on a central shaft held by a key and set screw. The central shaft attached to the weapon through another key.

====Design Decisions====
The selection of an overhead bar was due to the unknown mobility of our shuffler module. With our ability to move and have our weapon facing the opponent in question, it was decided to make up for the potential vulnerability with a weapon that was dangerous from all sides. A ring was discarded due to the rectangular nature of shuffle modules, and an overhead bar was selected as a weapon. The lack of invertibility was not considered a problem. The weapon transmission system was largely designed around space concerns, with the outrunner motor having its pulley mounted on top and using keys and set-screws instead of profiles for more robust connections.

====Calculations====
Get angry at Cory and make him fill this in
====Evaluation====
Multiple weaknesses made it into the design that ultimately resulted in catastrophic failure at multiple points. Specific design failures were selection of a weapon that required stable movement, as the overhead bar (even with a half inch of clearance) would impact the ground due to how a shuffler moves, and massive underestimation of the forces involved with such a high moment weapon. The main drive shaft proved to be too thin to handle the impact of the weapon, and there wasn't enough reinforcement to the connection point between the shaft and weapon to absorb the impact, resulting in the bending of the exposed section of shaft (roughly 0.5”) and the fracture of the weapon. Another point of failure was the level of hardening to the weapon; the bar was over hardened to withstand the subjected forces, resulting in fractures originating in the keyway of the shaft. The key of the shaft itself surprisingly survived the impacts, as it was believed that would be the point of failure. The weapon transmission also presented some weaknesses, with the double set screw attachment on the weapon motor a decision made out of necessity as opposed to being a robust connection. Overall the weapon system had some major design flaws that were not caught or excused due to the design constraints already in place. In a new iteration a new weapon design would be recommended.

When a flail becomes a viable alternative, you have made a <strike>mistake</strike> beautiful robot

===Electronics===
====Overview====
Apachi’s electrical system consisted of two 4 cell lithium polymer batteries, two brushless electronic speed controllers (ESCs) designed for RC cars which controlled the drive motors, and a different brushless ESC which controlled the weapon motor. The circuits for the weapon system and the drive system were isolated with each having its own battery and power switch. There was also a receiver which sent pwm signals to the speed controllers.

====Design Decisions====
Multiple batteries were used in order to most efficiently utilize the space inside of the robot while providing the large current required by the motors. RC car ESCs were selected for the drive motors due to their ability to run motors in reverse which is not a standard feature of brushless ESCs. The ability to reverse was not necessary for the weapon so a standard ESC was chosen. The specific voltage, capacity, and maximum current for the batteries were determined based on the drive and weapon calculation spreadsheets discussed earlier. The ESC specifications were determined based on the voltage of the batteries and the maximum current draw of the motors.

====Calculations====
See the other calculation sections

====Evaluation====
Based on the voltage level of the batteries after running for an entire match, they seem to be appropriately specced. More in depth testing was going to be done to determine whether battery specs, and therefore size and weight, could be decreased but these tests were unable to be completed. Additionally there were concerns about the weapon being underpowered due to the inability to spin such a large moment to high speeds. This could potentially be solved by some creative wiring solutions that were going to be tested but again were not. The wiring of this robot was somewhat tricky due to there being many spinning things inside the robot that the wires needed to avoid.

= See also =
<ul style="line-height: 20.7999992370605px;">
<li>[(link to other bot made this year) (Name of other bot made this year)]</li>
</ul>

= Notes: =

(random joke, optional)

Naming Inspiration: It kinda looks like a helicopter

Apachi used the side plates of [https://wiki.robojackets.org/Spooki Spooki] as weapons of the flail
[[Category:HobbyWeights]]

Chonki Design Guide

2021-05-30T02:20:31Z

Mnagaraj6:

Chonki Design Guide

2021-05-30T02:19:08Z

Mnagaraj6:

Chonki Design Guide
{| class="wikitable" align="right"
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Apachi V 1.0
|-
! scope="row" colspan="2" | [[File:(Image filename)|frameless|right|480x360px|(Highlight text)]]
|-
! scope="row" style="text-align:left" | Year Of Creation
| {{{year|2019-2020}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Versions
|-
! scope="row" style="text-align:left" | Current Version
| {{{currver|V 1.0}}}
|-
! scope="row" style="text-align:left" | Update Year
| {{{updyr|2019-2020}}}
|-
! scope="row" style="text-align:left" | Wins/Losses
| {{{winloss|0/2}}}
|-
! scope="row" colspan="2" style="background-color:#FFFF99" | Information and Statistics
|-
! scope="row" style="text-align:left" | Weight Class
| {{{wc|Hobbyweight}}}
|-
! scope="row" style="text-align:left" | Weapon Class
| {{{weapc|Bent Bar/Overhead Bar}}}
|-
! scope="row" style="text-align:left" | Combined Wins/Losses
| {{{winloss|0/2}}}
|-
! scope="row" style="text-align:left" | Weapon Speed
| {{{TBA|Around 800?}}}
|-
! scope="row" style="text-align:left" | Other
| {{{TBA|Won the 12lb rumble}}}
|}
== Introduction ==
Chonki is a 45lb shuffling shell spinner competing in the 30lb weight class. It was developed during 2020-2021. The drive system was iterated from that of Apachi. The weapon system was a brand new concept for BattleBots. The goal of Chonki was to evaluate the viability of shell spinners while taking advantage of the 1.5 time weight multiplier afforded by using a mechanism other than wheels for movement. Has not been to competition due to COVID cancellation, but showed promise during development.

Members:
*Brian Epstein (Lead)
*Dylan Fife (Mentor)
*Mihir Nagaraj
*Mesum Zaidi
*Emily Liu
*Janie Edgar
*Celina Huang
*Martha Leach
*Cole Sosnowski
*Colin Lyman

== Drive System ==
== Weapon System ==
====Nested Concept====
Originally the shell was designed as a series of rings with progressively increasing diameters. These rings would then be joined together through welding.

====Solid Concept====

== Chassis System ==
== Electronics ==

File:Chonki Belly.png

2021-05-30T01:28:43Z

Mnagaraj6:

Underside of Chonki