https://wiki.robojackets.org/api.php?action=feedcontributions&feedformat=atom&user=Ncastro9 2026-04-27T22:41:33Z User contributions MediaWiki 1.32.0 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=19008 2020-05-14T23:49:54Z

<p>Ncastro9: /* Lore */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> Maori is a 30lb beater bar robot developed during 2019-2020. Its general design is a love letter to Mandi's design as the new drum type flagship bot for the club. Armed with an S7 heat treated tool steel weapon and large chunks of HDPE armor, Maori is ready to rumble. Has so far never faced competition, but showed promise during development.<br /> <br /> YO. It's the journey, not the destination. We ate CRABS, we pitched it to Dwayne &quot;The Rock&quot; Johnson, and we didn't get rona. This baby is ready for a fight, but she just has to wait <br /> <br /> This is MAORI BABYYYYYYYYYYYYYYYYYYYYYYYYY<br /> <br /> Members:<br /> <br /> Bot Lead: Thomas Jackson, Prawn Prince<br /> <br /> Bot Mentor: Nico Castro, King Crab<br /> <br /> The Bs: Lil, and Big (Brain Epstein and Brian Hales)<br /> <br /> The Muscle: Jonathan Paul<br /> <br /> The Crispi Kids: Damian, Alex, Brenden<br /> <br /> Honorary Members: Ava, Dennis, Hank the Tank<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations and Testing ====<br /> Calculations made for the drive can be found here: https://docs.google.com/spreadsheets/d/1scdVNzY6Q3a9BCemg0K2he29hvwmrmOmIFCIPTrqUPA/edit?usp=sharing<br /> It's evident that the final numbers here are off. Investigation needs to be done to find the cause, but if using this to compare motors, it should do the job fine. <br /> <br /> We prioritized speed over torque, but in reality the speed could be lower since during testing we didn't even get to try top speed and had a few issues with control. The robot is able to push the anvil and a stock bar on the shop floor, so it can push a weight of 60 pounds roughly. When pulling this with the spring scale in the shop (unsure if it is accurate or in the right units) the max push force of Maori is roughly 15 lbs. Maori's motors did not stall during this process though, instead the wheels were skidding.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon, as it can be machined fairly easily to start with, and can then be heat treated for an immense increase in strength. S7 tool steel is the go to material for big bot weapons. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. This is a big issue for weapon designs in general. Make sure to have the tooth of the weapon be the only part of the profile that sticks out the farthest.<br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The tensioning system for the weapon pulley relied on a bar with two small bearings to press down on both of the belts. An outdated image that shows the basic idea is shown at right. When assembled, the plates bent inward so that they were no longer parallel. One solution to this problem would be putting slots in the top and bottom plates into which the pulley plates would fit.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> <br /> ==== Calculations ====<br /> The weapon motor was chosen based on two different models. The first model was generated internally by RoboJackets and was of dubious accuracy. That model can be found here &lt;insert link&gt;. The second model was designed by Team Run Amok Combat Robotics and can be found here: http://runamok.tech/AskAaron/tools.html. This model was created in 2007 and has been reviewed and updated through 2017. One notable feature of the Run Amok model was the inclusion of the &quot;soft start&quot; feature included in most ESCs. The RJ model does not factor in this feature. The Team Run Amok model allows for inputs of weapon moment of inertia, motor type (brushed or brushless), internal motor stats (Voltage, Kv, Ri, poles, and gear reduction), match length, and number of spin ups. As outputs the model returns power required, weapon speed, tip speed, energy required, and elapsed time.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Make sure to review the RioBotz BattleBots Manual for insights on how to shape the weapon, how many teeth to have, and how much tooth bite your device will achieve. This is a key handbook so make sure to review this for good weapon design!<br /> <br /> : Adding a slot to the motor mount plates would help prevent canting. The canting issue led to use being unable to assemble the tensioning system.<br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack - Single batteries seem to work well with the amount of space in a 30lber. Other robots attempted to utilize two smaller batteries, but faced spacing and electrical issues. While it is not impossible, and even advantageous to use two batteries in series for more voltage, or parallel for more amperage, initially forays in this weight class may be more manageable with a design with a single battery. However, multi-battery systems should be refined and condensed for proper utilization.<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever - This receiver is one that is compatible with the new big bot controllers recently purchased. Buy this reciever if you want to use the good controllers. They plug in like the old receivers, but are slightly larger.<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs) - More explanation below.<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC) - Solid weapon ESC that pairs well with the selected weapon motor. Scorpion products are always high quality, and we get a discount from them as well. Lots of customization options with the software that accompanies it for programming. It takes a bit of time to get a handle off, but spin-up times can be adjusted with this programmable ESC.<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S - More explanation below.<br /> <br /> - Scorpion SII-4025-440KV - Solid weapon motor, anything from scorpion will be a good motor choice. We picked this motor for its sizing and KV/Current rating. Get yourself a scorpion motor today.<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses - In-line boat fuses. Fuses are always great for protecting your bots internals, and these are quite small and solder in-line, making them efficient current protection. This vendor is also great in general, you won't find fuses like these anywhere else.<br /> <br /> - Team Whyachi MS-05 Switch - Big durable switch that can take the current our bot is working with. Use Team Whyachi switches for your big bots, they can handle the increased electrical needs.<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan. A solid go-to for our specific drive setup.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> Nothing too much to discuss here. The motor connects normally with the circuit and is driven easily, as it bolts to a separate motor mount. Strong motor from scorpion -&gt; hub -&gt; double belts -&gt; weapon hub = win.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs, but they worked well. Its a toss up on when products from Banggood will arrive, so don't buy from them unless its a last resort.<br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got Mandiii 2nd at robogames. They are robust and can be fan cooled. Overall, a solid choice that has worked in the past, but could be improved on/optimized for future robots.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to Covid-19 (dab). Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable, but can easily be brought down to a 6 second spinup time with some quick tweaking. Obviously this needs be be brought down lower with more study of the software.<br /> ----<br /> == Lore ==<br /> Legends speak of terrible monstrosities that lurk below the seas. In the greatest and darkest depths of the oceans, it is largely unknown what creatures lurk among the cold shadowed waters. Despite this limitation though, there are those who claim to have glimpsed beyond, to have peered into the yawning abyss. These sequestered members of society stow away to worship and commune with the otherworldly beasts they have seen. And we are those people, for we are the great Crab Cult of Maori. Founded by the King Crab, the cult creates lavish feasts that are held with abandon to honor that great crustacean that creeps below darkened seas. And when the stars are right, it will burst forth and claim its long forgotten Crab Kingdom, an opulent civilization that once held purchase on the ancient continent of Mu. While the rites of our cult are hidden from public view, we engage in the mundane, lying in wait for this great reclamation. Apart from gorging feasts of shell fish, the crab cult constructs effigies of its patron, as manifested through Maori. Named after the Maori people, the war machine itself is built to bring honor and glory to the crab cult, as for every victory it claims in the arena is more fervor towards summoning the King Crab. Some say that the avatar of the King Crab, or Crab King itself, already pervades and scuttles on the world above. However, the Court of the Crab King is not complete with only the king himself. The young and impressionable Prawn Prince, the huge lobster Big B, and the minute crustacean Lil B round out this court, jestered by the festering apostles of Crispi. Regardless, as a member of this corrupted conclave, it is the duty for every Crab Cult member to uphold the Mantle of Crab King. The Mantle is a decree that characterizes how the cult should spread the fervor of the great King Crab. As a proper member, it should be known that every year at least one great feast should take place. The primary or first feast should be a Low Country Boil, in which great heaps of seafood and vegetables are boiled together to create a deliciously cooked pot of fixings. In the Court of the Crab King it is written in the Mantle that the Prawn Prince, or a courtier of equal rank is to oversee the ceremony. In the end, the product of this feast is merriment and camaraderie that keep the Cult close knit. The great Mantle also decrees that Crab Cult members must devote their club time to creating an effigy that is fit for a king. Machining quality is of utmost import, as well as proper design of the effigy. For it is not only written among the stars, but also in the sands below the ocean that those blessed and bound to the King Crab are destined for greatness in the arena. It should be known that to oppose the Mantle is a heresy that has never been known. To change or rewrite the Mantle would be to seek the ire of the King Crab, and would only be attainable through ritual combat. If a Cult member performs their duties well, and so honors the great crustacean, they will earn their own moniker, as a prince or other court position. These titles are not to be passed down, only earned, as it is each member's duty to ensure their place as so written in the Mantle. So, for a Crab Cult initiate reading this, uphold the Mantle, feast and work hard, for you are blessed by the behemoth among the waves.</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18936 2020-04-25T23:18:08Z

<p>Ncastro9: </p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> Maori is a 30lb beater bar robot developed during 2019-2020. Its general design is a love letter to Mandi's design as the new drum type flagship bot for the club. Armed with an S7 heat treated tool steel weapon and large chunks of HDPE armor, Maori is ready to rumble. Has so far never faced competition, but showed promise during development.<br /> <br /> YO. It's the journey, not the destination. We ate CRABS, we pitched it to Dwayne &quot;The Rock&quot; Johnson, and we didn't get rona. This baby is ready for a fight, but she just has to wait - Tommy <br /> <br /> This is MAORI BABYYYYYYYYYYYYYYYYYYYYYYYYY<br /> <br /> Members:<br /> <br /> Bot Lead: Thomas Jackson, Prawn Prince<br /> <br /> Bot Mentor: Nico Castro, King Crab<br /> <br /> The Bs: Lil, and Big (Brain Epstein and Brian Hales)<br /> <br /> The Crispi Kids: Damian, Alex, Brenden<br /> <br /> Honorary Members: Ava, Dennis, Hank the Tank<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations and Testing ====<br /> Calculations made for the drive can be found here: https://docs.google.com/spreadsheets/d/1scdVNzY6Q3a9BCemg0K2he29hvwmrmOmIFCIPTrqUPA/edit?usp=sharing<br /> It's evident that the final numbers here are off. Investigation needs to be done to find the cause, but if using this to compare motors, it should do the job fine. <br /> <br /> We prioritized speed over torque, but in reality the speed could be lower since during testing we didn't even get to try top speed and had a few issues with control. The robot is able to push the anvil and a stock bar on the shop floor, so it can push a weight of 60 pounds roughly. When pulling this with the spring scale in the shop (unsure if it is accurate or in the right units) the max push force of Maori is roughly 15 lbs. Maori's motors did not stall during this process though, instead the wheels were skidding.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon, as it can be machined fairly easily to start with, and can then be heat treated for an immense increase in strength. S7 tool steel is the go to material for big bot weapons. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. This is a big issue for weapon designs in general. Make sure to have the tooth of the weapon be the only part of the profile that sticks out the farthest.<br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The tensioning system for the weapon pulley relied on a bar with two small bearings to press down on both of the belts (as pictured to the right). When assembled, the plates bent inward so that they were no longer parallel. One solution to this problem would be putting slots in the top and bottom plates into which the pulley plates would fit.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> <br /> ==== Calculations ====<br /> The weapon motor was chosen based on two different models. The first model was generated internally by RoboJackets and was of dubious accuracy. That model can be found here &lt;insert link&gt;. The second model was designed by Team Run Amok Combat Robotics and can be found here: http://runamok.tech/AskAaron/tools.html. This model was created in 2007 and has been reviewed and updated through 2017. One notable feature of the Run Amok model was the inclusion of the &quot;soft start&quot; feature included in most ESCs. The RJ model does not factor in this feature. The Team Run Amok model allows for inputs of weapon moment of inertia, motor type (brushed or brushless), internal motor stats (Voltage, Kv, Ri, poles, and gear reduction), match length, and number of spin ups. As outputs the model returns power required, weapon speed, tip speed, energy required, and elapsed time.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Make sure to review the RioBotz BattleBots Manual for insights on how to shape the weapon, how many teeth to have, and how much tooth bite your device will achieve. This is a key handbook so make sure to review this for good weapon design!<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack - Single batteries seem to work well with the amount of space in a 30lber. Other robots attempted to utilize two smaller batteries, but faced spacing and electrical issues. While it is not impossible, and even advantageous to use two batteries in series for more voltage, or parallel for more amperage, initially forays in this weight class may be more manageable with a design with a single battery. However, multi-battery systems should be refined and condensed for proper utilization.<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever - This receiver is one that is compatible with the new big bot controllers recently purchased. Buy this reciever if you want to use the good controllers. They plug in like the old receivers, but are slightly larger.<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs) - More explanation below.<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC) - Solid weapon ESC that pairs well with the selected weapon motor. Scorpion products are always high quality, and we get a discount from them as well. Lots of customization options with the software that accompanies it for programming. It takes a bit of time to get a handle off, but spin-up times can be adjusted with this programmable ESC.<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S - More explanation below.<br /> <br /> - Scorpion SII-4025-440KV - Solid weapon motor, anything from scorpion will be a good motor choice. We picked this motor for its sizing and KV/Current rating. Get yourself a scorpion motor today.<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses - In-line boat fuses. Fuses are always great for protecting your bots internals, and these are quite small and solder in-line, making them efficient current protection. This vendor is also great in general, you won't find fuses like these anywhere else.<br /> <br /> - Team Whyachi MS-05 Switch - Big durable switch that can take the current our bot is working with. Use Team Whyachi switches for your big bots, they can handle the increased electrical needs.<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan. A solid go-to for our specific drive setup.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> Nothing too much to discuss here. The motor connects normally with the circuit and is driven easily, as it bolts to a separate motor mount. Strong motor from scorpion -&gt; hub -&gt; double belts -&gt; weapon hub = win.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs, but they worked well. Its a toss up on when products from Banggood will arrive, so don't buy from them unless its a last resort.<br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got Mandiii 2nd at robogames. They are robust and can be fan cooled. Overall, a solid choice that has worked in the past, but could be improved on/optimized for future robots.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to Covid-19 (dab). Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable, but can easily be brought down to a 6 second spinup time with some quick tweaking. Obviously this needs be be brought down lower with more study of the software.<br /> ----<br /> == Lore ==</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18935 2020-04-25T23:17:42Z

<p>Ncastro9: /* Introduction */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> Maori is a 30lb beater bar robot developed during 2019-2020. Its general design is a love letter to Mandi's design as the new drum type flagship bot for the club. Armed with an S7 heat treated tool steel weapon and large chunks of HDPE armor, Maori is ready to rumble. Has so far never faced competition, but showed promise during development.<br /> <br /> YO. It's the journey, not the destination. We ate CRABS, we pitched it to Dwayne &quot;The Rock&quot; Johnson, and we didn't get rona. This baby is ready for a fight, but she just has to wait - Tommy <br /> <br /> This is MAORI BABYYYYYYYYYYYYYYYYYYYYYYYYY<br /> <br /> Members:<br /> <br /> Bot Lead: Thomas Jackson, Prawn Prince<br /> <br /> Bot Mentor: Nico Castro, King Crab<br /> <br /> The Bs: Lil, and Big (Brain Epstein and Brian Hales)<br /> <br /> The Crispi Kids: Damian, Alex, Brenden<br /> <br /> Honorary Members: Ava, Dennis, Hank the Tank<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations and Testing ====<br /> Calculations made for the drive can be found here: https://docs.google.com/spreadsheets/d/1scdVNzY6Q3a9BCemg0K2he29hvwmrmOmIFCIPTrqUPA/edit?usp=sharing<br /> It's evident that the final numbers here are off. Investigation needs to be done to find the cause, but if using this to compare motors, it should do the job fine. <br /> <br /> We prioritized speed over torque, but in reality the speed could be lower since during testing we didn't even get to try top speed and had a few issues with control. The robot is able to push the anvil and a stock bar on the shop floor, so it can push a weight of 60 pounds roughly. When pulling this with the spring scale in the shop (unsure if it is accurate or in the right units) the max push force of Maori is roughly 15 lbs. Maori's motors did not stall during this process though, instead the wheels were skidding.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon, as it can be machined fairly easily to start with, and can then be heat treated for an immense increase in strength. S7 tool steel is the go to material for big bot weapons. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. This is a big issue for weapon designs in general. Make sure to have the tooth of the weapon be the only part of the profile that sticks out the farthest.<br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The tensioning system for the weapon pulley relied on a bar with two small bearings to press down on both of the belts (as pictured to the right). When assembled, the plates bent inward so that they were no longer parallel. One solution to this problem would be putting slots in the top and bottom plates into which the pulley plates would fit.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> <br /> ==== Calculations ====<br /> The weapon motor was chosen based on two different models. The first model was generated internally by RoboJackets and was of dubious accuracy. That model can be found here &lt;insert link&gt;. The second model was designed by Team Run Amok Combat Robotics and can be found here: http://runamok.tech/AskAaron/tools.html. This model was created in 2007 and has been reviewed and updated through 2017. One notable feature of the Run Amok model was the inclusion of the &quot;soft start&quot; feature included in most ESCs. The RJ model does not factor in this feature. The Team Run Amok model allows for inputs of weapon moment of inertia, motor type (brushed or brushless), internal motor stats (Voltage, Kv, Ri, poles, and gear reduction), match length, and number of spin ups. As outputs the model returns power required, weapon speed, tip speed, energy required, and elapsed time.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Make sure to review the RioBotz BattleBots Manual for insights on how to shape the weapon, how many teeth to have, and how much tooth bite your device will achieve. This is a key handbook so make sure to review this for good weapon design!<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack - Single batteries seem to work well with the amount of space in a 30lber. Other robots attempted to utilize two smaller batteries, but faced spacing and electrical issues. While it is not impossible, and even advantageous to use two batteries in series for more voltage, or parallel for more amperage, initially forays in this weight class may be more manageable with a design with a single battery. However, multi-battery systems should be refined and condensed for proper utilization.<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever - This receiver is one that is compatible with the new big bot controllers recently purchased. Buy this reciever if you want to use the good controllers. They plug in like the old receivers, but are slightly larger.<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs) - More explanation below.<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC) - Solid weapon ESC that pairs well with the selected weapon motor. Scorpion products are always high quality, and we get a discount from them as well. Lots of customization options with the software that accompanies it for programming. It takes a bit of time to get a handle off, but spin-up times can be adjusted with this programmable ESC.<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S - More explanation below.<br /> <br /> - Scorpion SII-4025-440KV - Solid weapon motor, anything from scorpion will be a good motor choice. We picked this motor for its sizing and KV/Current rating. Get yourself a scorpion motor today.<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses - In-line boat fuses. Fuses are always great for protecting your bots internals, and these are quite small and solder in-line, making them efficient current protection. This vendor is also great in general, you won't find fuses like these anywhere else.<br /> <br /> - Team Whyachi MS-05 Switch - Big durable switch that can take the current our bot is working with. Use Team Whyachi switches for your big bots, they can handle the increased electrical needs.<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan. A solid go-to for our specific drive setup.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> Nothing too much to discuss here. The motor connects normally with the circuit and is driven easily, as it bolts to a separate motor mount. Strong motor from scorpion -&gt; hub -&gt; double belts -&gt; weapon hub = win.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs, but they worked well. Its a toss up on when products from Banggood will arrive, so don't buy from them unless its a last resort.<br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got Mandiii 2nd at robogames. They are robust and can be fan cooled. Overall, a solid choice that has worked in the past, but could be improved on/optimized for future robots.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to Covid-19 (dab). Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable, but can easily be brought down to a 6 second spinup time with some quick tweaking. Obviously this needs be be brought down lower with more study of the software.<br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18934 2020-04-25T23:17:02Z

<p>Ncastro9: /* Introduction */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> YO. It's the journey, not the destination. We ate CRABS, we pitched it to Dwayne &quot;The Rock&quot; Johnson, and we didn't get rona. This baby is ready for a fight, but she just has to wait. <br /> <br /> This is MAORI BABYYYYYYYYYYYYYYYYYYYYYYYYY<br /> <br /> Maori is a 30lb beater bar robot developed during 2019-2020. Its general design is a love letter to Mandi's design as the new drum type flagship bot for the club. Armed with an S7 heat treated tool steel weapon and large chunks of HDPE armor, Maori is ready to rumble. Has so far never faced competition, but showed promise during development.<br /> <br /> Members:<br /> <br /> Bot Lead: Thomas Jackson, Prawn Prince<br /> <br /> Bot Mentor: Nico Castro, King Crab<br /> <br /> The Bs: Lil, and Big (Brain Epstein and Brian Hales)<br /> <br /> The Crispi Kids: Damian, Alex, Brenden<br /> <br /> Honorary Members: Ava, Dennis, Hank the Tank<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations and Testing ====<br /> Calculations made for the drive can be found here: https://docs.google.com/spreadsheets/d/1scdVNzY6Q3a9BCemg0K2he29hvwmrmOmIFCIPTrqUPA/edit?usp=sharing<br /> It's evident that the final numbers here are off. Investigation needs to be done to find the cause, but if using this to compare motors, it should do the job fine. <br /> <br /> We prioritized speed over torque, but in reality the speed could be lower since during testing we didn't even get to try top speed and had a few issues with control. The robot is able to push the anvil and a stock bar on the shop floor, so it can push a weight of 60 pounds roughly. When pulling this with the spring scale in the shop (unsure if it is accurate or in the right units) the max push force of Maori is roughly 15 lbs. Maori's motors did not stall during this process though, instead the wheels were skidding.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon, as it can be machined fairly easily to start with, and can then be heat treated for an immense increase in strength. S7 tool steel is the go to material for big bot weapons. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. This is a big issue for weapon designs in general. Make sure to have the tooth of the weapon be the only part of the profile that sticks out the farthest.<br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The tensioning system for the weapon pulley relied on a bar with two small bearings to press down on both of the belts (as pictured to the right). When assembled, the plates bent inward so that they were no longer parallel. One solution to this problem would be putting slots in the top and bottom plates into which the pulley plates would fit.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> <br /> ==== Calculations ====<br /> The weapon motor was chosen based on two different models. The first model was generated internally by RoboJackets and was of dubious accuracy. That model can be found here &lt;insert link&gt;. The second model was designed by Team Run Amok Combat Robotics and can be found here: http://runamok.tech/AskAaron/tools.html. This model was created in 2007 and has been reviewed and updated through 2017. One notable feature of the Run Amok model was the inclusion of the &quot;soft start&quot; feature included in most ESCs. The RJ model does not factor in this feature. The Team Run Amok model allows for inputs of weapon moment of inertia, motor type (brushed or brushless), internal motor stats (Voltage, Kv, Ri, poles, and gear reduction), match length, and number of spin ups. As outputs the model returns power required, weapon speed, tip speed, energy required, and elapsed time.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Make sure to review the RioBotz BattleBots Manual for insights on how to shape the weapon, how many teeth to have, and how much tooth bite your device will achieve. This is a key handbook so make sure to review this for good weapon design!<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack - Single batteries seem to work well with the amount of space in a 30lber. Other robots attempted to utilize two smaller batteries, but faced spacing and electrical issues. While it is not impossible, and even advantageous to use two batteries in series for more voltage, or parallel for more amperage, initially forays in this weight class may be more manageable with a design with a single battery. However, multi-battery systems should be refined and condensed for proper utilization.<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever - This receiver is one that is compatible with the new big bot controllers recently purchased. Buy this reciever if you want to use the good controllers. They plug in like the old receivers, but are slightly larger.<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs) - More explanation below.<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC) - Solid weapon ESC that pairs well with the selected weapon motor. Scorpion products are always high quality, and we get a discount from them as well. Lots of customization options with the software that accompanies it for programming. It takes a bit of time to get a handle off, but spin-up times can be adjusted with this programmable ESC.<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S - More explanation below.<br /> <br /> - Scorpion SII-4025-440KV - Solid weapon motor, anything from scorpion will be a good motor choice. We picked this motor for its sizing and KV/Current rating. Get yourself a scorpion motor today.<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses - In-line boat fuses. Fuses are always great for protecting your bots internals, and these are quite small and solder in-line, making them efficient current protection. This vendor is also great in general, you won't find fuses like these anywhere else.<br /> <br /> - Team Whyachi MS-05 Switch - Big durable switch that can take the current our bot is working with. Use Team Whyachi switches for your big bots, they can handle the increased electrical needs.<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan. A solid go-to for our specific drive setup.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> Nothing too much to discuss here. The motor connects normally with the circuit and is driven easily, as it bolts to a separate motor mount. Strong motor from scorpion -&gt; hub -&gt; double belts -&gt; weapon hub = win.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs, but they worked well. Its a toss up on when products from Banggood will arrive, so don't buy from them unless its a last resort.<br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got Mandiii 2nd at robogames. They are robust and can be fan cooled. Overall, a solid choice that has worked in the past, but could be improved on/optimized for future robots.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to Covid-19 (dab). Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable, but can easily be brought down to a 6 second spinup time with some quick tweaking. Obviously this needs be be brought down lower with more study of the software.<br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18932 2020-04-25T23:13:38Z

<p>Ncastro9: /* Introduction */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> YO. It's the journey, not the destination. We ate CRABS, we pitched it to Dwayne &quot;The Rock&quot; Johnson, and we didn't get rona. This baby is ready for a fight, but she just has to wait. <br /> <br /> This is MAORI BABYYYYYYYYYYYYYYYYYYYYYYYYY<br /> <br /> Members:<br /> <br /> Bot Lead: Thomas Jackson, Prawn Prince<br /> <br /> Bot Mentor: Nico Castro, King Crab<br /> <br /> The Bs: Lil, and Big (Brain Epstein and Brian Hales)<br /> <br /> The Crispi Kids: Damian, Alex, Brenden<br /> <br /> Honorary Members: Ava, Dennis, Hank the Tank<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations and Testing ====<br /> Calculations made for the drive can be found here: https://docs.google.com/spreadsheets/d/1scdVNzY6Q3a9BCemg0K2he29hvwmrmOmIFCIPTrqUPA/edit?usp=sharing<br /> It's evident that the final numbers here are off. Investigation needs to be done to find the cause, but if using this to compare motors, it should do the job fine. <br /> <br /> We prioritized speed over torque, but in reality the speed could be lower since during testing we didn't even get to try top speed and had a few issues with control. The robot is able to push the anvil and a stock bar on the shop floor, so it can push a weight of 60 pounds roughly. When pulling this with the spring scale in the shop (unsure if it is accurate or in the right units) the max push force of Maori is roughly 15 lbs. Maori's motors did not stall during this process though, instead the wheels were skidding.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon, as it can be machined fairly easily to start with, and can then be heat treated for an immense increase in strength. S7 tool steel is the go to material for big bot weapons. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. This is a big issue for weapon designs in general. Make sure to have the tooth of the weapon be the only part of the profile that sticks out the farthest.<br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The tensioning system for the weapon pulley relied on a bar with two small bearings to press down on both of the belt (as pictured to the right). When assembled, the plates bent inward so that they were no longer parallel. One solution to this problem would be putting slots in the top and bottom plates into which the pulley plates would fit.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> <br /> ==== Calculations ====<br /> The weapon motor was chosen based on two different models. The first model was generated internally by RoboJackets and was of dubious accuracy. That model can be found here &lt;insert link&gt;. The second model was designed by Team Run Amok Combat Robotics and can be found here: http://runamok.tech/AskAaron/tools.html. This model was created in 2007 and has been reviewed and updated through 2017. One notable feature of the Run Amok model was the inclusion of the &quot;soft start&quot; feature included in most ESCs. The RJ model does not factor in this feature. The Team Run Amok model allows for inputs of weapon moment of inertia, motor type (brushed or brushless), internal motor stats (Voltage, Kv, Ri, poles, and gear reduction), match length, and number of spin ups. As outputs the model returns power required, weapon speed, tip speed, energy required, and elapsed time.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Make sure to review the RioBotz BattleBots Manual for insights on how to shape the weapon, how many teeth to have, and how much tooth bite your device will achieve. This is a key handbook so make sure to review this for good weapon design!<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack - Single batteries seem to work well with the amount of space in a 30lber. Other robots attempted to utilize two smaller batteries, but faced spacing and electrical issues. While it is not impossible, and even advantageous to use two batteries in series for more voltage, or parallel for more amperage, initially forays in this weight class may be more manageable with a design with a single battery. However, multi-battery systems should be refined and condensed for proper utilization.<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever - This receiver is one that is compatible with the new big bot controllers recently purchased. Buy this reciever if you want to use the good controllers. They plug in like the old receivers, but are slightly larger.<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs) - More explanation below.<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC) - Solid weapon ESC that pairs well with the selected weapon motor. Scorpion products are always high quality, and we get a discount from them as well. Lots of customization options with the software that accompanies it for programming. It takes a bit of time to get a handle off, but spin-up times can be adjusted with this programmable ESC.<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S - More explanation below.<br /> <br /> - Scorpion SII-4025-440KV - Solid weapon motor, anything from scorpion will be a good motor choice. We picked this motor for its sizing and KV/Current rating. Get yourself a scorpion motor today.<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses - In-line boat fuses. Fuses are always great for protecting your bots internals, and these are quite small and solder in-line, making them efficient current protection. This vendor is also great in general, you won't find fuses like these anywhere else.<br /> <br /> - Team Whyachi MS-05 Switch - Big durable switch that can take the current our bot is working with. Use Team Whyachi switches for your big bots, they can handle the increased electrical needs.<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan. A solid go-to for our specific drive setup.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> Nothing too much to discuss here. The motor connects normally with the circuit and is driven easily, as it bolts to a separate motor mount. Strong motor from scorpion -&gt; hub -&gt; double belts -&gt; weapon hub = win.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs, but they worked well. Its a toss up on when products from Banggood will arrive, so don't buy from them unless its a last resort.<br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got Mandiii 2nd at robogames. They are robust and can be fan cooled. Overall, a solid choice that has worked in the past, but could be improved on/optimized for future robots.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to Covid-19 (dab). Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable, but can easily be brought down to a 6 second spinup time with some quick tweaking. Obviously this needs be be brought down lower with more study of the software.<br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18931 2020-04-25T23:13:07Z

<p>Ncastro9: /* Introduction */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> YO. It's the journey, not the destination. We ate CRABS, we pitched it to Dwayne &quot;The Rock&quot; Johnson, and we didn't get rona. This baby is ready for a fight, but she just has to wait. <br /> <br /> This is MAORI BABYYYYYYYYYYYYYYYYYYYYYYYYY<br /> <br /> Members:<br /> Bot Lead: Thomas Jackson, Prawn Prince<br /> Bot Mentor: Nico Castro, King Crab<br /> The Bs: Lil, and Big (Brain Epstein and Brian Hales)<br /> The Crispi Kids: Damian, Alex, Brenden<br /> Honorary Members: Ava, Dennis, Hank the Tank<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations and Testing ====<br /> Calculations made for the drive can be found here: https://docs.google.com/spreadsheets/d/1scdVNzY6Q3a9BCemg0K2he29hvwmrmOmIFCIPTrqUPA/edit?usp=sharing<br /> It's evident that the final numbers here are off. Investigation needs to be done to find the cause, but if using this to compare motors, it should do the job fine. <br /> <br /> We prioritized speed over torque, but in reality the speed could be lower since during testing we didn't even get to try top speed and had a few issues with control. The robot is able to push the anvil and a stock bar on the shop floor, so it can push a weight of 60 pounds roughly. When pulling this with the spring scale in the shop (unsure if it is accurate or in the right units) the max push force of Maori is roughly 15 lbs. Maori's motors did not stall during this process though, instead the wheels were skidding.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon, as it can be machined fairly easily to start with, and can then be heat treated for an immense increase in strength. S7 tool steel is the go to material for big bot weapons. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. This is a big issue for weapon designs in general. Make sure to have the tooth of the weapon be the only part of the profile that sticks out the farthest.<br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The tensioning system for the weapon pulley relied on a bar with two small bearings to press down on both of the belt (as pictured to the right). When assembled, the plates bent inward so that they were no longer parallel. One solution to this problem would be putting slots in the top and bottom plates into which the pulley plates would fit.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> <br /> ==== Calculations ====<br /> The weapon motor was chosen based on two different models. The first model was generated internally by RoboJackets and was of dubious accuracy. That model can be found here &lt;insert link&gt;. The second model was designed by Team Run Amok Combat Robotics and can be found here: http://runamok.tech/AskAaron/tools.html. This model was created in 2007 and has been reviewed and updated through 2017. One notable feature of the Run Amok model was the inclusion of the &quot;soft start&quot; feature included in most ESCs. The RJ model does not factor in this feature. The Team Run Amok model allows for inputs of weapon moment of inertia, motor type (brushed or brushless), internal motor stats (Voltage, Kv, Ri, poles, and gear reduction), match length, and number of spin ups. As outputs the model returns power required, weapon speed, tip speed, energy required, and elapsed time.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Make sure to review the RioBotz BattleBots Manual for insights on how to shape the weapon, how many teeth to have, and how much tooth bite your device will achieve. This is a key handbook so make sure to review this for good weapon design!<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack - Single batteries seem to work well with the amount of space in a 30lber. Other robots attempted to utilize two smaller batteries, but faced spacing and electrical issues. While it is not impossible, and even advantageous to use two batteries in series for more voltage, or parallel for more amperage, initially forays in this weight class may be more manageable with a design with a single battery. However, multi-battery systems should be refined and condensed for proper utilization.<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever - This receiver is one that is compatible with the new big bot controllers recently purchased. Buy this reciever if you want to use the good controllers. They plug in like the old receivers, but are slightly larger.<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs) - More explanation below.<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC) - Solid weapon ESC that pairs well with the selected weapon motor. Scorpion products are always high quality, and we get a discount from them as well. Lots of customization options with the software that accompanies it for programming. It takes a bit of time to get a handle off, but spin-up times can be adjusted with this programmable ESC.<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S - More explanation below.<br /> <br /> - Scorpion SII-4025-440KV - Solid weapon motor, anything from scorpion will be a good motor choice. We picked this motor for its sizing and KV/Current rating. Get yourself a scorpion motor today.<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses - In-line boat fuses. Fuses are always great for protecting your bots internals, and these are quite small and solder in-line, making them efficient current protection. This vendor is also great in general, you won't find fuses like these anywhere else.<br /> <br /> - Team Whyachi MS-05 Switch - Big durable switch that can take the current our bot is working with. Use Team Whyachi switches for your big bots, they can handle the increased electrical needs.<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan. A solid go-to for our specific drive setup.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> Nothing too much to discuss here. The motor connects normally with the circuit and is driven easily, as it bolts to a separate motor mount. Strong motor from scorpion -&gt; hub -&gt; double belts -&gt; weapon hub = win.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs, but they worked well. Its a toss up on when products from Banggood will arrive, so don't buy from them unless its a last resort.<br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got Mandiii 2nd at robogames. They are robust and can be fan cooled. Overall, a solid choice that has worked in the past, but could be improved on/optimized for future robots.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to Covid-19 (dab). Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable, but can easily be brought down to a 6 second spinup time with some quick tweaking. Obviously this needs be be brought down lower with more study of the software.<br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18929 2020-04-25T23:10:54Z

<p>Ncastro9: /* Weapon */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> YO. It's the journey, not the destination. We ate CRABS, we pitched it to Dwayne &quot;The Rock&quot; Johnson, and we didn't get rona. This baby is ready for a fight, but she just has to wait. <br /> <br /> This is MAORI BABEEEEEEEEE<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations and Testing ====<br /> Calculations made for the drive can be found here: https://docs.google.com/spreadsheets/d/1scdVNzY6Q3a9BCemg0K2he29hvwmrmOmIFCIPTrqUPA/edit?usp=sharing<br /> It's evident that the final numbers here are off. Investigation needs to be done to find the cause, but if using this to compare motors, it should do the job fine. <br /> <br /> We prioritized speed over torque, but in reality the speed could be lower since during testing we didn't even get to try top speed and had a few issues with control. The robot is able to push the anvil and a stock bar on the shop floor, so it can push a weight of 60 pounds roughly. When pulling this with the spring scale in the shop (unsure if it is accurate or in the right units) the max push force of Maori is roughly 15 lbs. Maori's motors did not stall during this process though, instead the wheels were skidding.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon, as it can be machined fairly easily to start with, and can then be heat treated for an immense increase in strength. S7 tool steel is the go to material for big bot weapons. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. This is a big issue for weapon designs in general. Make sure to have the tooth of the weapon be the only part of the profile that sticks out the farthest.<br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The tensioning system for the weapon pulley relied on a bar with two small bearings to press down on both of the belt (as pictured to the right). When assembled, the plates bent inward so that they were no longer parallel. One solution to this problem would be putting slots in the top and bottom plates into which the pulley plates would fit.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> <br /> ==== Calculations ====<br /> The weapon motor was chosen based on two different models. The first model was generated internally by RoboJackets and was of dubious accuracy. That model can be found here &lt;insert link&gt;. The second model was designed by Team Run Amok Combat Robotics and can be found here: http://runamok.tech/AskAaron/tools.html. This model was created in 2007 and has been reviewed and updated through 2017. One notable feature of the Run Amok model was the inclusion of the &quot;soft start&quot; feature included in most ESCs. The RJ model does not factor in this feature. The Team Run Amok model allows for inputs of weapon moment of inertia, motor type (brushed or brushless), internal motor stats (Voltage, Kv, Ri, poles, and gear reduction), match length, and number of spin ups. As outputs the model returns power required, weapon speed, tip speed, energy required, and elapsed time.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Make sure to review the RioBotz BattleBots Manual for insights on how to shape the weapon, how many teeth to have, and how much tooth bite your device will achieve. This is a key handbook so make sure to review this for good weapon design!<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack - Single batteries seem to work well with the amount of space in a 30lber. Other robots attempted to utilize two smaller batteries, but faced spacing and electrical issues. While it is not impossible, and even advantageous to use two batteries in series for more voltage, or parallel for more amperage, initially forays in this weight class may be more manageable with a design with a single battery. However, multi-battery systems should be refined and condensed for proper utilization.<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever - This receiver is one that is compatible with the new big bot controllers recently purchased. Buy this reciever if you want to use the good controllers. They plug in like the old receivers, but are slightly larger.<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs) - More explanation below.<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC) - Solid weapon ESC that pairs well with the selected weapon motor. Scorpion products are always high quality, and we get a discount from them as well. Lots of customization options with the software that accompanies it for programming. It takes a bit of time to get a handle off, but spin-up times can be adjusted with this programmable ESC.<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S - More explanation below.<br /> <br /> - Scorpion SII-4025-440KV - Solid weapon motor, anything from scorpion will be a good motor choice. We picked this motor for its sizing and KV/Current rating. Get yourself a scorpion motor today.<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses - In-line boat fuses. Fuses are always great for protecting your bots internals, and these are quite small and solder in-line, making them efficient current protection. This vendor is also great in general, you won't find fuses like these anywhere else.<br /> <br /> - Team Whyachi MS-05 Switch - Big durable switch that can take the current our bot is working with. Use Team Whyachi switches for your big bots, they can handle the increased electrical needs.<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan. A solid go-to for our specific drive setup.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> Nothing too much to discuss here. The motor connects normally with the circuit and is driven easily, as it bolts to a separate motor mount. Strong motor from scorpion -&gt; hub -&gt; double belts -&gt; weapon hub = win.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs, but they worked well. Its a toss up on when products from Banggood will arrive, so don't buy from them unless its a last resort.<br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got Mandiii 2nd at robogames. They are robust and can be fan cooled. Overall, a solid choice that has worked in the past, but could be improved on/optimized for future robots.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to Covid-19 (dab). Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable, but can easily be brought down to a 6 second spinup time with some quick tweaking. Obviously this needs be be brought down lower with more study of the software.<br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18928 2020-04-25T23:09:21Z

<p>Ncastro9: /* Calculations */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> YO. It's the journey, not the destination. We ate CRABS, we pitched it to Dwayne &quot;The Rock&quot; Johnson, and we didn't get rona. This baby is ready for a fight, but she just has to wait. <br /> <br /> This is MAORI BABEEEEEEEEE<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations and Testing ====<br /> Calculations made for the drive can be found here: https://docs.google.com/spreadsheets/d/1scdVNzY6Q3a9BCemg0K2he29hvwmrmOmIFCIPTrqUPA/edit?usp=sharing<br /> It's evident that the final numbers here are off. Investigation needs to be done to find the cause, but if using this to compare motors, it should do the job fine. <br /> <br /> We prioritized speed over torque, but in reality the speed could be lower since during testing we didn't even get to try top speed and had a few issues with control. The robot is able to push the anvil and a stock bar on the shop floor, so it can push a weight of 60 pounds roughly. When pulling this with the spring scale in the shop (unsure if it is accurate or in the right units) the max push force of Maori is roughly 15 lbs. Maori's motors did not stall during this process though, instead the wheels were skidding.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon, as it can be machined fairly easily to start with, and can then be heat treated for an immense increase in strength. S7 tool steel is the go to material for big bot weapons. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. This is a big issue for weapon designs in general. Make sure to have the tooth of the weapon be the only part of the profile that sticks out the farthest.<br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The tensioning system for the weapon pulley relied on a bar with two small bearings to press down on both of the belt (as pictured to the right). When assembled, the plates bent inward so that they were no longer parallel. One solution to this problem would be putting slots in the top and bottom plates into which the pulley plates would fit.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> <br /> ==== Calculations ====<br /> The weapon motor was chosen based on two different models. The first model was generated internally by RoboJackets and was of dubious accuracy. That model can be found here &lt;insert link&gt;. The second model was designed by Team Run Amok Combat Robotics and can be found here: http://runamok.tech/AskAaron/tools.html. This model was created in 2007 and has been reviewed and updated through 2017. One notable feature of the Run Amok model was the inclusion of the &quot;soft start&quot; feature included in most ESCs. The RJ model does not factor in this feature. The Team Run Amok model allows for inputs of weapon moment of inertia, motor type (brushed or brushless), internal motor stats (Voltage, Kv, Ri, poles, and gear reduction), match length, and number of spin ups. As outputs the model returns power required, weapon speed, tip speed, energy required, and elapsed time.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Make sure to review the RioBotz BattleBots Manual for insights on how to shape the weapon, how many teeth to have, and how much tooth bite your device will achieve. This is a key handbook so make sure to review this for good weapon design!<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack - Single batteries seem to work well with the amount of space in a 30lber. Other robots attempted to utilize two smaller batteries, but faced spacing and electrical issues. While it is not impossible, and even advantageous to use two batteries in series for more voltage, or parallel for more amperage, initially forays in this weight class may be more manageable with a design with a single battery. However, multi-battery systems should be refined and condensed for proper utilization.<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever - This receiver is one that is compatible with the new big bot controllers recently purchased. Buy this reciever if you want to use the good controllers. They plug in like the old receivers, but are slightly larger.<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs) - More explanation below.<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC) - Solid weapon ESC that pairs well with the selected weapon motor. Scorpion products are always high quality, and we get a discount from them as well. Lots of customization options with the software that accompanies it for programming. It takes a bit of time to get a handle off, but spin-up times can be adjusted with this programmable ESC.<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S - More explanation below.<br /> <br /> - Scorpion SII-4025-440KV - Solid weapon motor, anything from scorpion will be a good motor choice. We picked this motor for its sizing and KV/Current rating. Get yourself a scorpion motor today.<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses - In-line boat fuses. Fuses are always great for protecting your bots internals, and these are quite small and solder in-line, making them efficient current protection. This vendor is also great in general, you won't find fuses like these anywhere else.<br /> <br /> - Team Whyachi MS-05 Switch - Big durable switch that can take the current our bot is working with. Use Team Whyachi switches for your big bots, they can handle the increased electrical needs.<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan. A solid go-to for our specific drive setup.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs, but they worked well. Its a toss up on when products from Banggood will arrive, so don't buy from them unless its a last resort.<br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got Mandiii 2nd at robogames. They are robust and can be fan cooled. Overall, a solid choice that has worked in the past, but could be improved on/optimized for future robots.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to Covid-19 (dab). Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable, but can easily be brought down to a 6 second spinup time with some quick tweaking. Obviously this needs be be brought down lower with more study of the software.<br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18927 2020-04-25T23:06:56Z

<p>Ncastro9: /* Weapon */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> YO. It's the journey, not the destination. We ate CRABS, we pitched it to Dwayne &quot;The Rock&quot; Johnson, and we didn't get rona. This baby is ready for a fight, but she just has to wait. <br /> <br /> This is MAORI BABEEEEEEEEE<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations and Testing ====<br /> Calculations made for the drive can be found here: https://docs.google.com/spreadsheets/d/1scdVNzY6Q3a9BCemg0K2he29hvwmrmOmIFCIPTrqUPA/edit?usp=sharing<br /> It's evident that the final numbers here are off. Investigation needs to be done to find the cause, but if using this to compare motors, it should do the job fine. <br /> <br /> We prioritized speed over torque, but in reality the speed could be lower since during testing we didn't even get to try top speed and had a few issues with control. The robot is able to push the anvil and a stock bar on the shop floor, so it can push a weight of 60 pounds roughly. When pulling this with the spring scale in the shop (unsure if it is accurate or in the right units) the max push force of Maori is roughly 15 lbs. Maori's motors did not stall during this process though, instead the wheels were skidding.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon, as it can be machined fairly easily to start with, and can then be heat treated for an immense increase in strength. S7 tool steel is the go to material for big bot weapons. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. This is a big issue for weapon designs in general. Make sure to have the tooth of the weapon be the only part of the profile that sticks out the farthest.<br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The tensioning system for the weapon pulley relied on a bar with two small bearings to press down on both of the belt (as pictured to the right). When assembled, the plates bent inward so that they were no longer parallel. One solution to this problem would be putting slots in the top and bottom plates into which the pulley plates would fit.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> <br /> ==== Calculations ====<br /> The weapon motor was chosen based on two different models. The first model was generated internally by RoboJackets and was of dubious accuracy. That model can be found here &lt;insert link&gt;. The second model was designed by Team Run Amok Combat Robotics and can be found here: http://runamok.tech/AskAaron/tools.html. This model was created in 2007 and has been reviewed and updated through 2017. One notable feature of the Run Amok model was the inclusion of the &quot;soft start&quot; feature included in most ESCs. The RJ model does not factor in this feature. The Team Run Amok model allows for inputs of weapon moment of inertia, motor type (brushed or brushless), internal motor stats (Voltage, Kv, Ri, poles, and gear reduction), match length, and number of spin ups. As outputs the model returns power required, weapon speed, tip speed, energy required, and elapsed time.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack - Single batteries seem to work well with the amount of space in a 30lber. Other robots attempted to utilize two smaller batteries, but faced spacing and electrical issues. While it is not impossible, and even advantageous to use two batteries in series for more voltage, or parallel for more amperage, initially forays in this weight class may be more manageable with a design with a single battery. However, multi-battery systems should be refined and condensed for proper utilization.<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever - This receiver is one that is compatible with the new big bot controllers recently purchased. Buy this reciever if you want to use the good controllers. They plug in like the old receivers, but are slightly larger.<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs) - More explanation below.<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC) - Solid weapon ESC that pairs well with the selected weapon motor. Scorpion products are always high quality, and we get a discount from them as well. Lots of customization options with the software that accompanies it for programming. It takes a bit of time to get a handle off, but spin-up times can be adjusted with this programmable ESC.<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S - More explanation below.<br /> <br /> - Scorpion SII-4025-440KV - Solid weapon motor, anything from scorpion will be a good motor choice. We picked this motor for its sizing and KV/Current rating. Get yourself a scorpion motor today.<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses - In-line boat fuses. Fuses are always great for protecting your bots internals, and these are quite small and solder in-line, making them efficient current protection. This vendor is also great in general, you won't find fuses like these anywhere else.<br /> <br /> - Team Whyachi MS-05 Switch - Big durable switch that can take the current our bot is working with. Use Team Whyachi switches for your big bots, they can handle the increased electrical needs.<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan. A solid go-to for our specific drive setup.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs, but they worked well. Its a toss up on when products from Banggood will arrive, so don't buy from them unless its a last resort.<br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got Mandiii 2nd at robogames. They are robust and can be fan cooled. Overall, a solid choice that has worked in the past, but could be improved on/optimized for future robots.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to Covid-19 (dab). Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable, but can easily be brought down to a 6 second spinup time with some quick tweaking. Obviously this needs be be brought down lower with more study of the software.<br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18926 2020-04-25T23:00:54Z

<p>Ncastro9: /* Drive */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> YO. It's the journey, not the destination. We ate CRABS, we pitched it to Dwayne &quot;The Rock&quot; Johnson, and we didn't get rona. This baby is ready for a fight, but she just has to wait. <br /> <br /> This is MAORI BABEEEEEEEEE<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations and Testing ====<br /> Calculations made for the drive can be found here: https://docs.google.com/spreadsheets/d/1scdVNzY6Q3a9BCemg0K2he29hvwmrmOmIFCIPTrqUPA/edit?usp=sharing<br /> It's evident that the final numbers here are off. Investigation needs to be done to find the cause, but if using this to compare motors, it should do the job fine. <br /> <br /> We prioritized speed over torque, but in reality the speed could be lower since during testing we didn't even get to try top speed and had a few issues with control. The robot is able to push the anvil and a stock bar on the shop floor, so it can push a weight of 60 pounds roughly. When pulling this with the spring scale in the shop (unsure if it is accurate or in the right units) the max push force of Maori is roughly 15 lbs. Maori's motors did not stall during this process though, instead the wheels were skidding.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon, as it can be machined fairly easily to start with, and can then be heat treated for an immense increase in strength. S7 tool steel is the go to material for big bot weapons. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. This is a big issue for weapon designs in general. Make sure to have the tooth of the weapon be the only part of the profile that sticks out the farthest.<br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The tensioning system for the weapon pulley relied on a bar with two small bearings to press down on both of the belt (as pictured to the right). When assembled, the plates bent inward so that they were no longer parallel. One solution to this problem would be putting slots in the top and bottom plates into which the pulley plates would fit.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> <br /> ==== Calculations ====<br /> The weapon motor was chosen based on two different models. The first model was generated internally by RoboJackets and was of dubious accuracy. That model can be found here &lt;insert link&gt;. The second model was designed by Team Run Amok Combat Robotics and can be found here: http://runamok.tech/AskAaron/tools.html. This model was created in 2007 and has been reviewed and updated through 2017. One notable feature of the Run Amok model was the inclusion of the &quot;soft start&quot; feature included in most ESCs. The RJ model does not factor in this feature. The Team Run Amok model allows for inputs of weapon moment of inertia, motor type (brushed or brushless), internal motor stats (Voltage, Kv, Ri, poles, and gear reduction), match length, and number of spin ups. As outputs the model returns power required, weapon speed, tip speed, energy required, and elapsed time.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack - Single batteries seem to work well with the amount of space in a 30lber. Other robots attempted to utilize two smaller batteries, but faced spacing and electrical issues. While it is not impossible, and even advantageous to use two batteries in series for more voltage, or parallel for more amperage, initially forays in this weight class may be more manageable with a design with a single battery. However, multi-battery systems should be refined and condensed for proper utilization.<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever - This receiver is one that is compatible with the new big bot controllers recently purchased. Buy this reciever if you want to use the good controllers. They plug in like the old receivers, but are slightly larger.<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs) - More explanation below.<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC) - Solid weapon ESC that pairs well with the selected weapon motor. Scorpion products are always high quality, and we get a discount from them as well. Lots of customization options with the software that accompanies it for programming. It takes a bit of time to get a handle off, but spin-up times can be adjusted with this programmable ESC.<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S - More explanation below.<br /> <br /> - Scorpion SII-4025-440KV - Solid weapon motor, anything from scorpion will be a good motor choice. We picked this motor for its sizing and KV/Current rating. Get yourself a scorpion motor today.<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses - In-line boat fuses. Fuses are always great for protecting your bots internals, and these are quite small and solder in-line, making them efficient current protection. This vendor is also great in general, you won't find fuses like these anywhere else.<br /> <br /> - Team Whyachi MS-05 Switch - Big durable switch that can take the current our bot is working with. Use Team Whyachi switches for your big bots, they can handle the increased electrical needs.<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan. A solid go-to for our specific drive setup.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got mandiii 2nd at robogames.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18925 2020-04-25T22:59:52Z

<p>Ncastro9: /* Overview */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> YO. It's the journey, not the destination. We ate CRABS, we pitched it to Dwayne &quot;The Rock&quot; Johnson, and we didn't get rona. This baby is ready for a fight, but she just has to wait. <br /> <br /> This is MAORI BABEEEEEEEEE<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations and Testing ====<br /> Calculations made for the drive can be found here: https://docs.google.com/spreadsheets/d/1scdVNzY6Q3a9BCemg0K2he29hvwmrmOmIFCIPTrqUPA/edit?usp=sharing<br /> It's evident that the final numbers here are off. Investigation needs to be done to find the cause, but if using this to compare motors, it should do the job fine. <br /> <br /> We prioritized speed over torque, but in reality the speed could be lower since during testing we didn't even get to try top speed and had a few issues with control. The robot is able to push the anvil and a stock bar on the shop floor, so it can push a weight of 60 pounds roughly. When pulling this with the spring scale in the shop (unsure if it is accurate or in the right units) the max push force of Maori is roughly 15 lbs. Maori's motors did not stall during this process though, instead the wheels were skidding.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon, as it can be machined fairly easily to start with, and can then be heat treated for an immense increase in strength. S7 tool steel is the go to material for big bot weapons. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. This is a big issue for weapon designs in general. Make sure to have the tooth of the weapon be the only part of the profile that sticks out the farthest.<br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The tensioning system for the weapon pulley relied on a bar with two small bearings to press down on both of the belt (as pictured to the right). When assembled, the plates bent inward so that they were no longer parallel. One solution to this problem would be putting slots in the top and bottom plates into which the pulley plates would fit.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> <br /> ==== Calculations ====<br /> The weapon motor was chosen based on two different models. The first model was generated internally by RoboJackets and was of dubious accuracy. That model can be found here &lt;insert link&gt;. The second model was designed by Team Run Amok Combat Robotics and can be found here: http://runamok.tech/AskAaron/tools.html. This model was created in 2007 and has been reviewed and updated through 2017. One notable feature of the Run Amok model was the inclusion of the &quot;soft start&quot; feature included in most ESCs. The RJ model does not factor in this feature. The Team Run Amok model allows for inputs of weapon moment of inertia, motor type (brushed or brushless), internal motor stats (Voltage, Kv, Ri, poles, and gear reduction), match length, and number of spin ups. As outputs the model returns power required, weapon speed, tip speed, energy required, and elapsed time.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack - Single batteries seem to work well with the amount of space in a 30lber. Other robots attempted to utilize two smaller batteries, but faced spacing and electrical issues. While it is not impossible, and even advantageous to use two batteries in series for more voltage, or parallel for more amperage, initially forays in this weight class may be more manageable with a design with a single battery. However, multi-battery systems should be refined and condensed for proper utilization.<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever - This receiver is one that is compatible with the new big bot controllers recently purchased. Buy this reciever if you want to use the good controllers. They plug in like the old receivers, but are slightly larger.<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs) - More explanation below.<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC) - Solid weapon ESC that pairs well with the selected weapon motor. Scorpion products are always high quality, and we get a discount from them as well. Lots of customization options with the software that accompanies it for programming. It takes a bit of time to get a handle off, but spin-up times can be adjusted with this programmable ESC.<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S - More explanation below.<br /> <br /> - Scorpion SII-4025-440KV - Solid weapon motor, anything from scorpion will be a good motor choice. We picked this motor for its sizing and KV/Current rating. Get yourself a scorpion motor today.<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses - In-line boat fuses. Fuses are always great for protecting your bots internals, and these are quite small and solder in-line, making them efficient current protection. This vendor is also great in general, you won't find fuses like these anywhere else.<br /> <br /> - Team Whyachi MS-05 Switch - Big durable switch that can take the current our bot is working with. Use Team Whyachi switches for your big bots, they can handle the increased electrical needs.<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got mandiii 2nd at robogames.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18924 2020-04-25T22:59:20Z

<p>Ncastro9: /* Overview */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> YO. It's the journey, not the destination. We ate CRABS, we pitched it to Dwayne &quot;The Rock&quot; Johnson, and we didn't get rona. This baby is ready for a fight, but she just has to wait. <br /> <br /> This is MAORI BABEEEEEEEEE<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations and Testing ====<br /> Calculations made for the drive can be found here: https://docs.google.com/spreadsheets/d/1scdVNzY6Q3a9BCemg0K2he29hvwmrmOmIFCIPTrqUPA/edit?usp=sharing<br /> It's evident that the final numbers here are off. Investigation needs to be done to find the cause, but if using this to compare motors, it should do the job fine. <br /> <br /> We prioritized speed over torque, but in reality the speed could be lower since during testing we didn't even get to try top speed and had a few issues with control. The robot is able to push the anvil and a stock bar on the shop floor, so it can push a weight of 60 pounds roughly. When pulling this with the spring scale in the shop (unsure if it is accurate or in the right units) the max push force of Maori is roughly 15 lbs. Maori's motors did not stall during this process though, instead the wheels were skidding.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon, as it can be machined fairly easily to start with, and can then be heat treated for an immense increase in strength. S7 tool steel is the go to material for big bot weapons. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. This is a big issue for weapon designs in general. Make sure to have the tooth of the weapon be the only part of the profile that sticks out the farthest.<br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The tensioning system for the weapon pulley relied on a bar with two small bearings to press down on both of the belt (as pictured to the right). When assembled, the plates bent inward so that they were no longer parallel. One solution to this problem would be putting slots in the top and bottom plates into which the pulley plates would fit.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> <br /> ==== Calculations ====<br /> The weapon motor was chosen based on two different models. The first model was generated internally by RoboJackets and was of dubious accuracy. That model can be found here &lt;insert link&gt;. The second model was designed by Team Run Amok Combat Robotics and can be found here: http://runamok.tech/AskAaron/tools.html. This model was created in 2007 and has been reviewed and updated through 2017. One notable feature of the Run Amok model was the inclusion of the &quot;soft start&quot; feature included in most ESCs. The RJ model does not factor in this feature. The Team Run Amok model allows for inputs of weapon moment of inertia, motor type (brushed or brushless), internal motor stats (Voltage, Kv, Ri, poles, and gear reduction), match length, and number of spin ups. As outputs the model returns power required, weapon speed, tip speed, energy required, and elapsed time.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack - Single batteries seem to work well with the amount of space in a 30lber. Other robots attempted to utilize two smaller batteries, but faced spacing and electrical issues. While it is not impossible, and even advantageous to use two batteries in series for more voltage, or parallel for more amperage, initially forays in this weight class may be more manageable with a design with a single battery. However, multi-battery systems should be refined and condensed for proper utilization.<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever - This receiver is one that is compatible with the new big bot controllers recently purchased. Buy this reciever if you want to use the good controllers. They plug in like the old receivers, but are slightly larger.<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs) - More explanation below.<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC) - Solid weapon ESC that pairs well with the selected weapon motor. Scorpion products are always high quality, and we get a discount from them as well. Lots of customization options with the software that accompanies it for programming. It takes a bit of time to get a handle off, but spin-up times can be adjusted with this programmable ESC.<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV - Solid weapon motor, anything from scorpion will be a good motor choice. We picked this motor for its sizing and KV/Current rating. Get yourself a scorpion motor today.<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses - In-line boat fuses. Fuses are always great for protecting your bots internals, and these are quite small and solder in-line, making them efficient current protection. This vendor is also great in general, you won't find fuses like these anywhere else.<br /> <br /> - Team Whyachi MS-05 Switch - Big durable switch that can take the current our bot is working with. Use Team Whyachi switches for your big bots, they can handle the increased electrical needs.<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got mandiii 2nd at robogames.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18922 2020-04-25T22:55:42Z

<p>Ncastro9: /* Overview */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> YO. It's the journey, not the destination. We ate CRABS, we built a honkin boi, and we didn't get rona. This baby is ready for a fight, but she just has to wait. <br /> <br /> THis is MAORI BABEEEEEEEEE<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations and Testing ====<br /> Calculations made for the drive can be found here: https://docs.google.com/spreadsheets/d/1scdVNzY6Q3a9BCemg0K2he29hvwmrmOmIFCIPTrqUPA/edit?usp=sharing<br /> It's evident that the final numbers here are off. Investigation needs to be done to find the cause, but if using this to compare motors, it should do the job fine. <br /> <br /> We prioritized speed over torque, but in reality the speed could be lower since during testing we didn't even get to try top speed and had a few issues with control. The robot is able to push the anvil and a stock bar on the shop floor, so it can push a weight of 60 pounds roughly. When pulling this with the spring scale in the shop (unsure if it is accurate or in the right units) the max push force of Maori is roughly 15 lbs. Maori's motors did not stall during this process though, instead the wheels were skidding.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon, as it can be machined fairly easily to start with, and can then be heat treated for an immense increase in strength. S7 tool steel is the go to material for big bot weapons. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. This is a big issue for weapon designs in general. Make sure to have the tooth of the weapon be the only part of the profile that sticks out the farthest.<br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The tensioning system for the weapon pulley relied on a bar with two small bearings to press down on both of the belt (as pictured to the right). When assembled, the plates bent inward so that they were no longer parallel. One solution to this problem would be putting slots in the top and bottom plates into which the pulley plates would fit.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> <br /> ==== Calculations ====<br /> The weapon motor was chosen based on two different models. The first model was generated internally by RoboJackets and was of dubious accuracy. That model can be found here &lt;insert link&gt;. The second model was designed by Team Run Amok Combat Robotics and can be found here: http://runamok.tech/AskAaron/tools.html. This model was created in 2007 and has been reviewed and updated through 2017. One notable feature of the Run Amok model was the inclusion of the &quot;soft start&quot; feature included in most ESCs. The RJ model does not factor in this feature. The Team Run Amok model allows for inputs of weapon moment of inertia, motor type (brushed or brushless), internal motor stats (Voltage, Kv, Ri, poles, and gear reduction), match length, and number of spin ups. As outputs the model returns power required, weapon speed, tip speed, energy required, and elapsed time.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack - Single batteries seem to work well with the amount of space in a 30lber. Other robots attempted to utilize two smaller batteries, but faced spacing and electrical issues. While it is not impossible, and even advantageous to use two batteries in series for more voltage, or parallel for more amperage, initially forays in this weight class may be more manageable with a design with a single battery. However, multi-battery systems should be refined and condensed for proper utilization.<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever - This receiver is one that is compatible with the new big bot controllers recently purchased. Buy this reciever if you want to use the good controllers. They plug in like the old receivers, but are slightly larger.<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs) - More explanation below.<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC) - Solid weapon ESC that pairs well with the selected weapon motor. Scorpion products are always high quality, and we get a discount from them as well. Lots of customization options with the software that accompanies it for programming. It takes a bit of time to get a handle off, but spin-up times can be adjusted with this programmable ESC.<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV - Solid weapon motor, anything from scorpion will be a good motor choice. We picked <br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got mandiii 2nd at robogames.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18919 2020-04-25T22:26:47Z

<p>Ncastro9: /* Overview */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations and Testing ====<br /> Calculations made for the drive can be found here: https://docs.google.com/spreadsheets/d/1scdVNzY6Q3a9BCemg0K2he29hvwmrmOmIFCIPTrqUPA/edit?usp=sharing<br /> It's evident that the final numbers here are off. Investigation needs to be done to find the cause, but if using this to compare motors, it should do the job fine. <br /> <br /> We prioritized speed over torque, but in reality the speed could be lower since during testing we didn't even get to try top speed and had a few issues with control. The robot is able to push the anvil and a stock bar on the shop floor, so it can push a weight of 60 pounds roughly. When pulling this with the spring scale in the shop (unsure if it is accurate or in the right units) the max push force of Maori is roughly 15 lbs. Maori's motors did not stall during this process though, instead the wheels were skidding.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon, as it can be machined fairly easily to start with, and can then be heat treated for an immense increase in strength. S7 tool steel is the go to material for big bot weapons. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. This is a big issue for weapon designs in general. Make sure to have the tooth of the weapon be the only part of the profile that sticks out the farthest.<br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> <br /> ==== Calculations ====<br /> The weapon motor was chosen based on two different models. The first model was generated internally by RoboJackets and was of dubious accuracy. That model can be found here &lt;insert link&gt;. The second model was designed by Team Run Amok Combat Robotics and can be found here: http://runamok.tech/AskAaron/tools.html. This model was created in 2007 and has been reviewed and updated through 2017. One notable feature of the Run Amok model was the inclusion of the &quot;soft start&quot; feature included in most ESCs. The RJ model does not factor in this feature. The Team Run Amok model allows for inputs of weapon moment of inertia, motor type (brushed or brushless), internal motor stats (Voltage, Kv, Ri, poles, and gear reduction), match length, and number of spin ups. As outputs the model returns power required, weapon speed, tip speed, energy required, and elapsed time.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack - Single batteries seem to work well with the amount of space in a 30lber. This is because a single battery...<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got mandiii 2nd at robogames.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18917 2020-04-25T22:19:50Z

<p>Ncastro9: /* Design Decisions */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations and Testing ====<br /> Calculations made for the drive can be found here: https://docs.google.com/spreadsheets/d/1scdVNzY6Q3a9BCemg0K2he29hvwmrmOmIFCIPTrqUPA/edit?usp=sharing<br /> It's evident that the final numbers here are off. Investigation needs to be done to find the cause, but if using this to compare motors, it should do the job fine. <br /> <br /> We prioritized speed over torque, but in reality the speed could be lower since during testing we didn't even get to try top speed and had a few issues with control. The robot is able to push the anvil and a stock bar on the shop floor, so it can push a weight of 60 pounds roughly. When pulling this with the spring scale in the shop (unsure if it is accurate or in the right units) the max push force of Maori is roughly 15 lbs. Maori's motors did not stall during this process though, instead the wheels were skidding.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon, as it can be machined fairly easily to start with, and can then be heat treated for an immense increase in strength. S7 tool steel is the go to material for big bot weapons. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. This is a big issue for weapon designs in general. Make sure to have the tooth of the weapon be the only part of the profile that sticks out the farthest.<br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got mandiii 2nd at robogames.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18914 2020-04-25T22:16:11Z

<p>Ncastro9: /* Calculations */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Nothing too fancy here with the drive system. We were originally unsure on how to approach the drive system originally, but found a helpful video made by Robert Cowan on his robot Crippling Depression. The techniques he uses to make his drive system are very similar to the ones we used for Maori. Watch his series of videos for a good primer on 30lbers.<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got mandiii 2nd at robogames.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18913 2020-04-25T22:12:31Z

<p>Ncastro9: /* Design Decisions */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A blank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got mandiii 2nd at robogames.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18912 2020-04-25T22:09:59Z

<p>Ncastro9: /* Design Decisions */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : These parts were made with the waterjet, and resulted in a large amount of floating plastic that was tough to clean. Overall though, waterjetting worked, and the holes that would be made to fasten the armor to the robot were then just simply made on the mill.<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A bank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got mandiii 2nd at robogames.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18911 2020-04-25T22:05:13Z

<p>Ncastro9: /* Overview */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates. <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A bank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work. This being said, these ESCs were the ones that got mandiii 2nd at robogames.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18895 2020-04-11T23:44:27Z

<p>Ncastro9: /* Design Decisions */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In the end, due to the fact that our weapon did not have its central cut-out made, the back plate was made out of steel to counter balance the front loaded weight. It was not test driven with this new addition, but this has worked in the past.<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A bank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> The Racerstar ESCs were the only reversible ESCs we could find for the required specs. In general, it seems that reversible ESCs on the market are build for weaker circuits. However, knowing the challenge and unreliability of buying airplane ESCs and reprogramming them, the Maori team decided to go with the reversible car escs.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18893 2020-04-11T23:39:31Z

<p>Ncastro9: /* Overview */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|500px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A bank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18892 2020-04-11T23:39:20Z

<p>Ncastro9: /* Overview */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:Chassis.png|right|thumb|300px|Chassis Assembly]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A bank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=File:Chassis.png&diff=18891 2020-04-11T23:38:40Z

<p>Ncastro9: </p> <hr /> <div></div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18890 2020-04-11T23:38:16Z

<p>Ncastro9: /* Overview */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> [[File:.png|right|thumb|300px|Drive module with no cover]]<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A bank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : Racerstar is sold by Banggood. This seller took 6 months for us to finally receive our ESCs. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18888 2020-04-11T23:34:20Z

<p>Ncastro9: /* Design Decisions */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> [[File:Xd.png|right|thumb|300px|Drive module section view]]<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A bank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In order to get reversible ESCs rated for 80A and 6S, we had to order from banggood, a reputable shady seller. This is because after extensive search, only one compatible ESC was found. It is highly advised to prioritize reversibility in the ESC though, since Samurai and Valkyri had issues with programming this themselves. Reversible ESCs on the market are made for lower specs, so plan your circuit accordingly. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18887 2020-04-11T23:33:29Z

<p>Ncastro9: /* Overview */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|300px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A bank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In order to get reversible ESCs rated for 80A and 6S, we had to order from banggood, a reputable shady seller. This is because after extensive search, only one compatible ESC was found. It is highly advised to prioritize reversibility in the ESC though, since Samurai and Valkyri had issues with programming this themselves. Reversible ESCs on the market are made for lower specs, so plan your circuit accordingly. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18886 2020-04-11T23:33:18Z

<p>Ncastro9: /* Overview */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|600px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A bank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In order to get reversible ESCs rated for 80A and 6S, we had to order from banggood, a reputable shady seller. This is because after extensive search, only one compatible ESC was found. It is highly advised to prioritize reversibility in the ESC though, since Samurai and Valkyri had issues with programming this themselves. Reversible ESCs on the market are made for lower specs, so plan your circuit accordingly. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18885 2020-04-11T23:33:03Z

<p>Ncastro9: /* Overview */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|1500px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A bank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> The drive motors we went with were chosen for their theoretical performance discussed in the calculations portion of the Drive section. An interesting addition is that these motors were used in crippling depression, a very useful bot for learning about the 30lb weight class created by Robert Cowan.<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In order to get reversible ESCs rated for 80A and 6S, we had to order from banggood, a reputable shady seller. This is because after extensive search, only one compatible ESC was found. It is highly advised to prioritize reversibility in the ESC though, since Samurai and Valkyri had issues with programming this themselves. Reversible ESCs on the market are made for lower specs, so plan your circuit accordingly. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18883 2020-04-11T23:32:42Z

<p>Ncastro9: /* Overview */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:Xy.png|right|thumb|150px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A bank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In order to get reversible ESCs rated for 80A and 6S, we had to order from banggood, a reputable shady seller. This is because after extensive search, only one compatible ESC was found. It is highly advised to prioritize reversibility in the ESC though, since Samurai and Valkyri had issues with programming this themselves. Reversible ESCs on the market are made for lower specs, so plan your circuit accordingly. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18882 2020-04-11T23:31:30Z

<p>Ncastro9: /* Overview */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> [[File:xy.PNG|right|thumb|150px|Drive module with no cover]]<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A bank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> [[File:SectionViewWeaponAssy.png|right|thumb|300px|Section View of Weapon Assembly]]<br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> The section view of the weapon assembly shows how steel &quot;pins&quot; were bolted into the side plates of the chassis, allowing the bearings which were press-fit into the hubs to have a dead shaft to sit on.<br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : In order to get reversible ESCs rated for 80A and 6S, we had to order from banggood, a reputable shady seller. This is because after extensive search, only one compatible ESC was found. It is highly advised to prioritize reversibility in the ESC though, since Samurai and Valkyri had issues with programming this themselves. Reversible ESCs on the market are made for lower specs, so plan your circuit accordingly. <br /> <br /> : The racerstar ESCS, as far as we could find, are not programmable, so we could not adjust the specifics of how they work.<br /> <br /> : The Scorpion ESC requires a lot of reprogramming. There is a software available on the scorpion website under the same page the esc was purchased. We were unable to finish getting the ESC to work optimally due to covid-19. Out of the box, the motor and ESC have a spin-up of about 15-20 seconds which is unacceptable.<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=File:Xy.png&diff=18881 2020-04-11T23:30:03Z

<p>Ncastro9: </p> <hr /> <div></div>

Ncastro9 https://wiki.robojackets.org/index.php?title=File:Xd.png&diff=18880 2020-04-11T23:29:54Z

<p>Ncastro9: </p> <hr /> <div></div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18876 2020-04-11T23:08:28Z

<p>Ncastro9: /* Design Decisions */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> The design behind the armor was striving to make the robot profile a bit rounded. The armor is fairly thick (0.5&quot;-2.25&quot;) HDPE. The armor in this case wraps around the wheels. This is over the choice to have another side plate what would protect the wheels. The success of this choice hasn't been tested yet, but at least we believed that the thinner section of the HDPE around the wheels would be able to protect them. Apart from the weight saving cuts, this armor acts as our usual thick HDPE armor does. <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A bank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> [[File:WeaponAssy.png|right|thumb|300px|Maori Weapon Assembly]]<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> <br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18873 2020-04-11T23:00:55Z

<p>Ncastro9: /* Design Decisions */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> test<br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> Wheels: Performa Wheels (5&quot;) are always a good pick due to their solid build and great traction. The hubs that came with the wheels were pressed out for our own custom hubs.<br /> <br /> Wheel Hubs: Made of aluminum, these hubs key into the wheel. The hub then keys into the shaft of the gearbox, allowing for rotational transmission. In terms of transverse constraints, the inner bore of the gearbox shaft is threaded. Because of this, we were able to make the head of the hub a separate piece that bolts on to keep the wheel in place against a tiered spacer. <br /> <br /> Gearbox: Its specifications can be found in the electronics section. In terms of mechanics, the specific gearbox back plate topology was chosen to allow the motor to bolt on. The gearbox also has bolt holes that allow it to be mounted to the bottom plate, and allow the 3D-printed cover to be mounted. A bank pinion gear was ordered and machined in order to properly interface the added motor and gearbox on the inside.<br /> <br /> Motor: Its specifications can be found in the electronics section.<br /> <br /> 3D-printed Cover: A simple enclosure that houses the drive system. Allowed for wires to be routed over and around the drive system.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> <br /> The material used for the beater bar was S7 Tool Steel. In practice, this material is a good fit for the weapon. While designing the beater bar, compatibility with EDM (electron-discharge machining) was prioritized. The beater bar was given a constant cross-section along the axis of rotation to help in this regard. The profile of the beater bar is rotationally symmetric for 180 degrees to minimize vibration induced by an offset center of mass. Flats on each teeth were part of this profile to use for clamping when milling out the interior profile. The teeth of this profile were a significant issue during testing, as they reduced the &quot;reach&quot; of the weapon - the teeth were the same radius as the majority of the weapon, allowing objects to just bounce off of the weapon instead of getting damaged. <br /> <br /> The hubs used to constrain the beater bar were made of Aluminum 6061-T6. These parts were machined in house, so ease of machining outweighed high-strength material selection. However, the brunt of forces are received by the beater bar and chassis, meaning high-strength material was not necessary, and in fact benefits the design. This material selection allows deformation of the hubs before the beater bar and chassis (which were more complex parts and thus harder to machine). The hubs interface with the beater bar using a fork-shaped puzzle fit, which constrains axial and radial motion. A dual belt slot was machined into one of the hubs to interface with the weapon motor. Using two belts effectively halves the load on the belts and allows a &quot;built-in&quot; backup belt in the event one is torn by an opponent. The hubs, similarly to the the beater bar, are rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly.<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|300px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> <br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> <br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> <br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> <br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> <br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> <br /> - Scorpion SII-4025-440KV<br /> <br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> <br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18866 2020-04-11T22:52:13Z

<p>Ncastro9: /* Overview */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> test<br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> The drive assembly is a robust one: An outrunner motor adapted to fit into a Bane Bots gearbox. A multi-piece hub and spacer set, along with a bearing pressed into the side plate allow for proper function.<br /> <br /> ==== Design Decisions ====<br /> test<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> Beater Bar<br /> * Material: S7 Tool Steel<br /> * Profile: prioritized compatibility for EDM<br /> ** constant cross-section along the axis of rotation<br /> ** rotationally symmetric for 180 degrees to avoid vibration induced by skewed center of mass<br /> ** flats on teeth for clamping when milling out interior profile<br /> * Issues:<br /> ** rotationally symmetric profile reduced the &quot;reach&quot; of the weapon, making it hard to deal damage to test specimens<br /> ** actual performance in competition cannot be verified<br /> <br /> <br /> Hubs<br /> * Material: Aluminum 6061-T6<br /> ** machined in house, so ease of machining outweighed material selection<br /> ** the brunt of forces are received by the beater bar and chassis, this material selection allows deformation of hubs before the beater bar and chassis, which took longer to machine<br /> * Shape:<br /> ** fork-shaped puzzle fit with beater bar, constraining axial and radial motion (theoretically could stay together without bolts &gt;:) )<br /> ** dual belt slot to effectively halve load on belts<br /> ** rotationally symmetric for 180 degrees to avoid skewing the center of mass of the weapon assembly<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|600px|Maori Electronics Layout]]<br /> <br /> Maori uses a single battery that powers three parallel circuits, two of which are for drive. There are two 100 A fuses: one for the weapon, the other in series with the two drive circuits. <br /> <br /> Here is a list of components:<br /> - Turnigy 5000 mAh 6S 25C Lipo pack<br /> - FrSky X8R 8-channel 2.4ghz reciever<br /> - 2 Racerstar 120A ESC rated for 2-6S (drive ESCs)<br /> - Scorpion Tribunis 06-120A SBEC (weapon ESC)<br /> - 2 Propdrive v2 4238 750KV brushless outrunner motor rated for 80A and 2-4S<br /> - Scorpion SII-4025-440KV<br /> - 2 Blue Sea AMI/MIDI 100A fuses<br /> - Team Whyachi MS-05 Switch<br /> <br /> ==== Drive ====<br /> test<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18863 2020-04-11T22:42:47Z

<p>Ncastro9: /* Design Decisions */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> Overall, the chassis of our drum type spinner robots have always focused on durability and survivability. We use thicker aluminum plates that slot into each other, along with steel bolts to ensure the base structure of our robot is strong. No real surprises here. <br /> <br /> Side Plates (0.5&quot;): Slightly thicker towards the front, along with a slightly flared and rounded profile. Drum spinners run the risk of being ripped open by other robots if the interface between the weapon and chassis is not well put together. To account for this, the front of Maori is a bit thicker than the rest of the side plate (0.625&quot; vs 0.5&quot;). The roundedness to the head/lack of corners is to reduce the number of places where a horizontal spinner would be able to get a good hit on that support portion of the side plates. Cut-outs on the side plates allow for access to the tensioning system for the belt once the armor is removed. The side plates also have weight saving cut outs, and slight pockets that let the drive modules slot in nicely.<br /> <br /> Front Plate (0.5&quot;): Standard plate with a cut-out for the belt. Pocketing here gives a bit more room for electronics, while still providing structural support. Slots into side plates.<br /> <br /> Back Plate (0.375&quot;): Slightly thinner than the rest of the main chassis plates, but has general weight saving cut-outs. The general idea is that this plate will be slightly thinner as it should not be hit extensively during a fight. Armor also helps with this.<br /> <br /> Top/Bottom Plate (0.125&quot;): Maybe slightly too thin, but seemed to hold up well during assembly and testing. Provides holes that allow the tensioning system to bolt into something, while also providing some slots for internal plastic guards.<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> test<br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> test<br /> <br /> ==== Design Decisions ====<br /> test<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> Beater Bar<br /> * Material: S7 Tool Steel<br /> * Profile: prioritized compatibility for EDM<br /> ** constant cross-section<br /> ** axisymmetric to avoid vibration induced by skewed center of mass<br /> <br /> Hubs<br /> * Material: Aluminum 6061-T6<br /> ** machined in house, so ease of machining outweighed material selection<br /> ** the brunt of forces are received by the beater bar and chassis, this material selection allows deformation of hubs before the beater bar and chassis, which took longer to machine<br /> * Shape:<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> [[File:topdownmaori.png|right|thumb|600px|Maori Electronics Layout]]<br /> <br /> ==== Drive ====<br /> test<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Maori_Design_Guide&diff=18858 2020-04-11T22:28:22Z

<p>Ncastro9: /* Overview */</p> <hr /> <div>[[File:Maori.png|right|thumb|600px|Maori CAD]]<br /> == Introduction ==<br /> test<br /> <br /> == Design Basics ==<br /> <br /> === Chassis ===<br /> <br /> ==== Overview ====<br /> Maori's chassis consists of six parts: A top, bottom, front, and back plate as well as two side plates. All of these components are made from 6061 Aluminum.<br /> The side plates provide thicker support towards the weapon, while allowing skids to be inserted. Maori's drive modules also fit into the side plates.<br /> The front plate allows for belt access between the interior of the robot and the weapon pulley. It also fits into the side plates <br /> The bottom and top plates provide slots for interior plastic guards and bolt into the rest of the chassis.<br /> <br /> ==== Design Decisions ====<br /> test<br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Armor ===<br /> <br /> ==== Overview ====<br /> Maori's armor is composed of three HDPE components. This consists of two side armor blocks and a plate mounted to the back.<br /> <br /> ==== Design Decisions ====<br /> test<br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Drive ===<br /> <br /> ==== Overview ====<br /> test<br /> <br /> ==== Design Decisions ====<br /> test<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Weapon ===<br /> <br /> ==== Overview ====<br /> Maori's weapon system consists of a steel drum to cause damage to opponents and two aluminum hubs to interface the weapon with the chassis. The drum is constrained to the hubs with bolts perpendicular to the axis of rotation to minimize loosening caused by vibration. The fork shape of the hubs compromises ease of machining with functionality.<br /> <br /> ==== Design Decisions ====<br /> test<br /> <br /> ==== Calculations ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----<br /> <br /> === Electronics ===<br /> <br /> ==== Overview ====<br /> test<br /> <br /> ==== Drive ====<br /> test<br /> <br /> ==== Weapon ====<br /> test<br /> <br /> ----<br /> ;Notes/Helpful Advice<br /> : test<br /> <br /> ----</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Mandi&diff=16242 2018-05-24T20:14:27Z

<p>Ncastro9: </p> <hr /> <div>{| class=&quot;wikitable&quot; align=&quot;right&quot;<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Mandiii<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; |[[File:MandiiiV3.jpg|right|frameless|480x480px|DrumRoll, please]]<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Year Of Creation<br /> | {{{year|2010-2011}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Versions<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Current Version<br /> | {{{currver|3.5}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Update Year<br /> | {{{updyr|2012-2013, 2014-2015, 2016-2017, 2017-2018}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Information and Statistics<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weight Class<br /> | {{{wc|120lb Middle Weight}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weapon Class<br /> | {{{weapc|Drum Spinner}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Wins/Losses/Byes<br /> | {{{winloss|12/10/2}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|{&quot;Temporary&quot;)}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|(&quot;Temporary&quot;)}}}<br /> |}<br /> <br /> = Competitions =<br /> <br /> === [[RoboGames 2018|RoboGames 2018]] ===<br /> *Results<br /> ** Win vs. Robotto<br /> ** Win vs. Herbert's Revenge<br /> ** Win vs. Railgun S<br /> ** Loss vs. General<br /> ** Semifinals - Win vs. Uppercut<br /> ** Finals - Loss vs. General<br /> <br /> <br /> === [https://wiki.robojackets.org/w/RoboGames_2017 RoboGames 2017] ===<br /> * Results<br /> ** [https://www.youtube.com/watch?v=JUffCGoJ4kk Loss vs. Cat Kong]<br /> ** [https://www.youtube.com/watch?v=BAYflYm80sQ Win vs. Houston]<br /> ** [https://www.youtube.com/watch?v=yPc6X6ShpKE Loss vs. Nighthawk]<br /> <br /> === [[RoboGames 2015|RoboGames 2015]] ===<br /> *Results:<br /> **[https://www.youtube.com/watch?v=WX6HXlt14z4 Victory vs Heavy Metal]<br /> **[https://www.youtube.com/watch?v=GLLhz1FLHmQ Loss vs Touro Classic]<br /> <br /> === RoboGames 2013 ===<br /> <br /> *Results<br /> **[https://www.youtube.com/watch?v=aMW-srAq4i0 Victory vs Witch Doctor]<br /> ***Mandii was initially knocked around and flipped over by the opponent<br /> ***Opponent hits Mandii's weapon,&amp;nbsp;flipped itself over as a result, and tried to tackle Mandii<br /> ***This&amp;nbsp;collision disabled the opponent's weapon/only means of movement<br /> ***Opponent spewed smoke<br /> **[https://www.youtube.com/watch?v=g_Rbv6S2_18 Victory vs MPV]<br /> ***Opponent had no visible weapon/movement mechanism<br /> ***Opponent was obliterated on 2nd contact by Mandii<br /> ***Mandii sustained no visible damage<br /> **[https://www.youtube.com/watch?v=9ZJHFHIC3Mc Loss vs The Blender]<br /> ***Mandii attacked frequently, but was pushed aside by the opponent's shell<br /> ***Mandii is then viciously attacked by the enemy<br /> ***Eventually, Mandii is disabled due to the damage sustained<br /> <br /> === RoboGames 2012 ===<br /> *Results<br /> **[https://www.youtube.com/watch?v=TVaYqNl22xQ Loss vs&amp;nbsp;Wolverine]<br /> ***Constant to-and-fro hits<br /> ***Mandi was visibly&amp;nbsp;damaged, while the opponent was not<br /> ***Loss due to judge's decision<br /> <br /> = Versions =<br /> <br /> == Mandi (V1.0) ==<br /> Undocumented<br /> <br /> == Mandii (V1.0) ==<br /> <br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;______&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | Victor 885<br /> |-<br /> | Weapon Motor<br /> | AmpFlow A28-400<br /> |-<br /> | Weapon Motor Controllers<br /> | &lt;br/&gt;<br /> |-<br /> | Receiver<br /> | &lt;br/&gt;<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;&lt;br/&gt;<br /> |-<br /> | Battery<br /> | &lt;br/&gt;<br /> |-<br /> | (OTHER:)<br /> | (OTHER:)&lt;br/&gt;&lt;br/&gt;<br /> |}<br /> <br /> ==== Problems ====<br /> * Side Aluminum Armor Caved onto wheel from large hit. Prevented Drive<br /> * Live Weapon Shaft<br /> ** Deflected from hits<br /> * Needle bearings supporting drum axle shattered<br /> * Drum completely cracked through<br /> * Plastic Skids Ripped off in fight<br /> * Drum Teeth sheared off<br /> <br /> ==== Good aspects ====<br /> <br /> ==== Changes/Improvements ====<br /> <br /> == Mandiii (V3.0) ==<br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;Chelsea Silberglied, Trenton Charlson, Dustin Sloan&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> |[http://www.castlecreations.com/en/1-5th-scale-vehicles/2028-extreme-800kv-motor-060-0054-00 Castle Creations 2028 Extreme]<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> <br /> ==== Problems ====<br /> * Low Clearance 0.5&quot;. Armor same height off ground as arena lip, got stuck on edge.<br /> * Small Wheels (5&quot;), Need to be large<br /> * Difficult to service, required complete disassembly to replace belts and drum bearings.<br /> * Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.<br /> * Transmitter broke during competition. Used Hobbyking $20 Transmitter.<br /> * 3D Printed Electronics Mount Broke<br /> * Need Fastblow Fuse &lt;300A<br /> * Front Plate Fracture at screw interface with side plates, due to &lt;0.125&quot; material at bolt hole<br /> * Weapon Bearings not checked after each match<br /> ** One shattered during first match, still spun but quickly seized<br /> * Drum bolt circle was not machined properly, drums canted.<br /> * Large flat area on rear armor, got caught on arena edge<br /> * Underweight (113 lbs)<br /> <br /> ==== Good aspects ====<br /> * Reliable Drum<br /> ** Spun up fast, &lt;4 seconds<br /> ** Drum in 2 pieces, 10 0.3125&quot; Alloy Steel dowel pins<br /> ** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle<br /> ** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance<br /> ** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture<br /> ** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck<br /> * Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push &gt; 130lb person on tile floor.<br /> * All wheel drive, 4 Wheels<br /> * Stable Drive Control, robot went straight and could turn appropriately<br /> * Good Speed: 13.6 mph, 912RPM 5&quot; Wheel<br /> * Zip Tied and Electrical Taped all electronic connectors<br /> * Armor absorbed hits well<br /> ** Almost no significant damage to main frame<br /> ** Aluminum dented and sheared<br /> ** HPDE plastically deformed<br /> ** Multiple replaceable sets (2.5 Sets)<br /> ** Sheet Metal Screws, self tapping into plastic<br /> * Tolerances<br /> ** Parts fit together well. Waterjetted jigsaw fits had 0.008&quot; under sizing to interface smoothly <br /> ** Dial Indicated large parts on mill<br /> ** Custom Grooving Tool for pulley V-belt groove<br /> * Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)<br /> * External chain on drive easily serviceable<br /> * Electronics properly spec'd. Did not burn an ESC<br /> * Tapered roller bearing worked well<br /> <br /> ==== Changes/Improvements ====<br /> * Larger wheels for ground clearance, 6&quot; instead of 5&quot;<br /> ** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels<br /> ** Make hub go all the way through wheel (not 2 separate inserts)<br /> * Properly machined drum so that dowel circles line up<br /> * Larger Drum to utilize extra weight<br /> * Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts<br /> ** Smaller weapon pulley required to accommodate hole<br /> * Steel Pulley, not Aluminum<br /> * No vertical holes in front plate<br /> * Larger skids for larger wheels/drum<br /> * Extra 2 Skids further back on side plates, redundancy in case front skids shear<br /> * Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate<br /> ** Insert attached to side plate to hold in place<br /> ** Pocket armor to compensate for space<br /> * Smaller Rear Armor<br /> ** Make same profile as side armor<br /> * More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450]) <br /> ** More Torque, faster spinup and smaller weapon pulley needed due to less gearing<br /> * Brighter LEDs on top plate<br /> <br /> == Mandiii (V3.5) ==<br /> Updated by: Nicolas Castro and Daniel Choi<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> | Scorpion 450 HK-4530-450KV<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> Update sought to implement the changes wanted from V3 of Mandiii. Overall, the update made the back plastic armor thinner, allowed for a removable shaft, improved drive capabilities by utilizing bigger wheels and new wheel assemblies, and implemented a much larger drum.<br /> <br /> ==== Problems ====<br /> * Newly designed drum was very heavy, causing the center of gravity to shift forward past the front wheels, making driving difficult. This was rectified by adding ballast steel plates under the back armor and only using one large drum piece.<br /> * Motor pulley was too large, making it difficult to tension weapon and resulting in belt friction through the front plate.<br /> * New drum pieces were slightly off tolerance, preventing proper press fit of bearings.<br /> * Underweight (117 lbs)<br /> * Retaining rings securing the forward shafts were removed by big hits, causing the shaft to slide into the chassis.<br /> * Side plate bearings popped out of their press fit (on internal side of bot).<br /> * Sprockets supporting chain drive sheared from wheel hub due to lack of intermittent tightening.<br /> * Drive has too much torque, not geared well enough for speed.<br /> * Tapered roller bearings almost always shattered<br /> * Shaft became bent after powerful weapon on weapon hits<br /> * Dowel pins sheared in drum pieces<br /> * Hits to plastic armor caused deformation to cover access to screws holding armor in place<br /> * Aluminum ripped off a little too easily<br /> <br /> ==== Good aspects ====<br /> * See Mandiii V3<br /> * Fairly easy to repeatably assemble fight after fight<br /> * Only minor bends to chassis (shafts did banana-out, usually due to weapon on weapon contact)<br /> * New wheels increased speed and had solid clearance with the edge of the arena. Did not get stuck.<br /> * Drive system is extremely robust<br /> ** Gearboxes showed no signs of damage after entire competition<br /> ** Front drive failure did not hinder rear wheel drive<br /> * Extremely durable, plastic armor absorbed all major hits<br /> * Hits are powerful enough and can reliably deliver them<br /> * Spin up was roughly the same (&lt;4 sec)<br /> * Low profile helped get under other bots<br /> <br /> ==== Changes/Improvements ====<br /> * Use shaft collars instead of retaining rings, like Railgun S.<br /> * Press bearings in facing outward to prevent it from popping out.<br /> * Use keys between sprocket and hub in addition to thicker screws (10-32s)<br /> * Change gearing for less torque (&gt;20mph)<br /> * Potentially use even larger wheels<br /> * Use larger bearings to mediate shattering<br /> * Follow up larger bearings with a larger shaft, potentially short to reduce bending moment (with no D).<br /> * Increase size of dowel pins and potentially add more<br /> * Single piece drum?<br /> * Make outer plates thicker to reduce bending<br /> * Make armor countersinks larger<br /> * Use larger aluminum armor screws (do we need this aluminum armor? Something to think about).<br /> * Overall, we need to evaluate what design changes will help with drum assembly integrity and what changes we can make to bring Mandiii to the next level. <br /> <br /> == Notes: ==<br /> <br /> Successor to [[Soafi|Soafi]]&amp;nbsp;<br /> <br /> &lt;span style=&quot;line-height: 20.7999992370605px&quot;&gt;&lt;/span&gt;<br /> [[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:MiddleWeights]]</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Mandi&diff=16238 2018-05-24T00:35:17Z

<p>Ncastro9: </p> <hr /> <div>{| class=&quot;wikitable&quot; align=&quot;right&quot;<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Mandiii<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; |[[File:MandiiiV3.jpg|right|frameless|480x480px|DrumRoll, please]]<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Year Of Creation<br /> | {{{year|2010-2011}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Versions<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Current Version<br /> | {{{currver|3.5}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Update Year<br /> | {{{updyr|2012-2013, 2014-2015, 2016-2017, 2017-2018}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Information and Statistics<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weight Class<br /> | {{{wc|120lb Middle Weight}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weapon Class<br /> | {{{weapc|Drum Spinner}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Wins/Losses/Byes<br /> | {{{winloss|12/10/2}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|{&quot;Temporary&quot;)}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|(&quot;Temporary&quot;)}}}<br /> |}<br /> <br /> = Competitions =<br /> <br /> === [[RoboGames 2018|RoboGames 2018]] ===<br /> *Results<br /> ** Win vs. Robotto<br /> ** Win vs. Herbert's Revenge<br /> ** Win vs. Railgun S<br /> ** Loss vs. General<br /> ** Semifinals - Win vs. Uppercut<br /> ** Finals - Loss vs. General<br /> <br /> <br /> === [https://wiki.robojackets.org/w/RoboGames_2017 RoboGames 2017] ===<br /> * Results<br /> ** [https://www.youtube.com/watch?v=JUffCGoJ4kk Loss vs. Cat Kong]<br /> ** [https://www.youtube.com/watch?v=BAYflYm80sQ Win vs. Houston]<br /> ** [https://www.youtube.com/watch?v=yPc6X6ShpKE Loss vs. Nighthawk]<br /> <br /> === [[RoboGames 2015|RoboGames 2015]] ===<br /> *Results:<br /> **[https://www.youtube.com/watch?v=WX6HXlt14z4 Victory vs Heavy Metal]<br /> **[https://www.youtube.com/watch?v=GLLhz1FLHmQ Loss vs Touro Classic]<br /> <br /> === RoboGames 2013 ===<br /> <br /> *Results<br /> **[https://www.youtube.com/watch?v=aMW-srAq4i0 Victory vs Witch Doctor]<br /> ***Mandii was initially knocked around and flipped over by the opponent<br /> ***Opponent hits Mandii's weapon,&amp;nbsp;flipped itself over as a result, and tried to tackle Mandii<br /> ***This&amp;nbsp;collision disabled the opponent's weapon/only means of movement<br /> ***Opponent spewed smoke<br /> **[https://www.youtube.com/watch?v=g_Rbv6S2_18 Victory vs MPV]<br /> ***Opponent had no visible weapon/movement mechanism<br /> ***Opponent was obliterated on 2nd contact by Mandii<br /> ***Mandii sustained no visible damage<br /> **[https://www.youtube.com/watch?v=9ZJHFHIC3Mc Loss vs The Blender]<br /> ***Mandii attacked frequently, but was pushed aside by the opponent's shell<br /> ***Mandii is then viciously attacked by the enemy<br /> ***Eventually, Mandii is disabled due to the damage sustained<br /> <br /> === RoboGames 2012 ===<br /> *Results<br /> **[https://www.youtube.com/watch?v=TVaYqNl22xQ Loss vs&amp;nbsp;Wolverine]<br /> ***Constant to-and-fro hits<br /> ***Mandi was visibly&amp;nbsp;damaged, while the opponent was not<br /> ***Loss due to judge's decision<br /> <br /> = Versions =<br /> <br /> == Mandi (V1.0) ==<br /> Undocumented<br /> <br /> == Mandii (V1.0) ==<br /> <br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;______&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | Victor 885<br /> |-<br /> | Weapon Motor<br /> | AmpFlow A28-400<br /> |-<br /> | Weapon Motor Controllers<br /> | &lt;br/&gt;<br /> |-<br /> | Receiver<br /> | &lt;br/&gt;<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;&lt;br/&gt;<br /> |-<br /> | Battery<br /> | &lt;br/&gt;<br /> |-<br /> | (OTHER:)<br /> | (OTHER:)&lt;br/&gt;&lt;br/&gt;<br /> |}<br /> <br /> ==== Problems ====<br /> * Side Aluminum Armor Caved onto wheel from large hit. Prevented Drive<br /> * Live Weapon Shaft<br /> ** Deflected from hits<br /> * Needle bearings supporting drum axle shattered<br /> * Drum completely cracked through<br /> * Plastic Skids Ripped off in fight<br /> * Drum Teeth sheared off<br /> <br /> ==== Good aspects ====<br /> <br /> ==== Changes/Improvements ====<br /> <br /> == Mandiii (V3.0) ==<br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;Chelsea Silberglied, Trenton Charlson, Dustin Sloan&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> |[http://www.castlecreations.com/en/1-5th-scale-vehicles/2028-extreme-800kv-motor-060-0054-00 Castle Creations 2028 Extreme]<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> <br /> ==== Problems ====<br /> * Low Clearance 0.5&quot;. Armor same height off ground as arena lip, got stuck on edge.<br /> * Small Wheels (5&quot;), Need to be large<br /> * Difficult to service, required complete disassembly to replace belts and drum bearings.<br /> * Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.<br /> * Transmitter broke during competition. Used Hobbyking $20 Transmitter.<br /> * 3D Printed Electronics Mount Broke<br /> * Need Fastblow Fuse &lt;300A<br /> * Front Plate Fracture at screw interface with side plates, due to &lt;0.125&quot; material at bolt hole<br /> * Weapon Bearings not checked after each match<br /> ** One shattered during first match, still spun but quickly seized<br /> * Drum bolt circle was not machined properly, drums canted.<br /> * Large flat area on rear armor, got caught on arena edge<br /> * Underweight (113 lbs)<br /> <br /> ==== Good aspects ====<br /> * Reliable Drum<br /> ** Spun up fast, &lt;4 seconds<br /> ** Drum in 2 pieces, 10 0.3125&quot; Alloy Steel dowel pins<br /> ** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle<br /> ** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance<br /> ** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture<br /> ** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck<br /> * Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push &gt; 130lb person on tile floor.<br /> * All wheel drive, 4 Wheels<br /> * Stable Drive Control, robot went straight and could turn appropriately<br /> * Good Speed: 13.6 mph, 912RPM 5&quot; Wheel<br /> * Zip Tied and Electrical Taped all electronic connectors<br /> * Armor absorbed hits well<br /> ** Almost no significant damage to main frame<br /> ** Aluminum dented and sheared<br /> ** HPDE plastically deformed<br /> ** Multiple replaceable sets (2.5 Sets)<br /> ** Sheet Metal Screws, self tapping into plastic<br /> * Tolerances<br /> ** Parts fit together well. Waterjetted jigsaw fits had 0.008&quot; under sizing to interface smoothly <br /> ** Dial Indicated large parts on mill<br /> ** Custom Grooving Tool for pulley V-belt groove<br /> * Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)<br /> * External chain on drive easily serviceable<br /> * Electronics properly spec'd. Did not burn an ESC<br /> * Tapered roller bearing worked well<br /> <br /> ==== Changes/Improvements ====<br /> * Larger wheels for ground clearance, 6&quot; instead of 5&quot;<br /> ** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels<br /> ** Make hub go all the way through wheel (not 2 separate inserts)<br /> * Properly machined drum so that dowel circles line up<br /> * Larger Drum to utilize extra weight<br /> * Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts<br /> ** Smaller weapon pulley required to accommodate hole<br /> * Steel Pulley, not Aluminum<br /> * No vertical holes in front plate<br /> * Larger skids for larger wheels/drum<br /> * Extra 2 Skids further back on side plates, redundancy in case front skids shear<br /> * Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate<br /> ** Insert attached to side plate to hold in place<br /> ** Pocket armor to compensate for space<br /> * Smaller Rear Armor<br /> ** Make same profile as side armor<br /> * More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450]) <br /> ** More Torque, faster spinup and smaller weapon pulley needed due to less gearing<br /> * Brighter LEDs on top plate<br /> <br /> == Mandiii (V3.5) ==<br /> Updated by: Nicolas Castro and Daniel Choi<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> | Scorpion 450 HK-4530-450KV<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> Update sought to implement the changes wanted from V3 of Mandiii. Overall, the update made the back plastic armor thinner, allowed for a removable shaft, improved drive capabilities by utilizing bigger wheels and new wheel assemblies, and implemented a much larger drum.<br /> <br /> ==== Problems ====<br /> * Newly designed drum was very heavy, causing the center of gravity to shift forward past the front wheels, making driving difficult. This was rectified by adding ballast steel plates under the back armor and only using one large drum piece.<br /> * Motor pulley was too large, making it difficult to tension weapon and resulting in belt friction through the front plate.<br /> * New drum pieces were slightly off tolerance, preventing proper press fit of bearings.<br /> * Underweight (117 lbs)<br /> <br /> ==== Good aspects ====<br /> * See Mandiii V3<br /> * Fairly easy to repeatably assemble fight after fight<br /> * Only minor bends to chassis (shafts did banana-out, usually due to weapon on weapon contact)<br /> * New wheels increased speed and had solid clearance with the edge of the arena. Did not get stuck.<br /> * Drive system is extremely robust<br /> ** Gearboxes showed no signs of damage after entire competition<br /> ** Front drive failure did not hinder rear wheel drive<br /> * Extremely durable, plastic armor absorbed all major hits<br /> * Hits are powerful enough and can reliably deliver them<br /> * Spin up was roughly the same (&lt;4 sec)<br /> * Low profile helped get under other bots<br /> <br /> ==== Changes/Improvements ====<br /> <br /> <br /> == See also ==<br /> <br /> == Notes: ==<br /> <br /> Successor to [[Soafi|Soafi]]&amp;nbsp;<br /> <br /> &lt;span style=&quot;line-height: 20.7999992370605px&quot;&gt;&lt;/span&gt;<br /> [[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:MiddleWeights]]</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Mandi&diff=16237 2018-05-24T00:17:13Z

<p>Ncastro9: </p> <hr /> <div>{| class=&quot;wikitable&quot; align=&quot;right&quot;<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Mandiii<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; |[[File:MandiiiV3.jpg|right|frameless|480x480px|DrumRoll, please]]<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Year Of Creation<br /> | {{{year|2010-2011}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Versions<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Current Version<br /> | {{{currver|3.5}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Update Year<br /> | {{{updyr|2012-2013, 2014-2015, 2016-2017, 2017-2018}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Information and Statistics<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weight Class<br /> | {{{wc|120lb Middle Weight}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weapon Class<br /> | {{{weapc|Drum Spinner}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Wins/Losses/Byes<br /> | {{{winloss|12/10/2}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|{&quot;Temporary&quot;)}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|(&quot;Temporary&quot;)}}}<br /> |}<br /> <br /> = Competitions =<br /> <br /> === [[RoboGames 2018|RoboGames 2018]] ===<br /> *Results<br /> ** Win vs. Robotto<br /> ** Win vs. Herbert's Revenge<br /> ** Win vs. Railgun S<br /> ** Loss vs. General<br /> ** Semifinals - Win vs. Uppercut<br /> ** Finals - Loss vs. General<br /> <br /> <br /> === [https://wiki.robojackets.org/w/RoboGames_2017 RoboGames 2017] ===<br /> * Results<br /> ** [https://www.youtube.com/watch?v=JUffCGoJ4kk Loss vs. Cat Kong]<br /> ** [https://www.youtube.com/watch?v=BAYflYm80sQ Win vs. Houston]<br /> ** [https://www.youtube.com/watch?v=yPc6X6ShpKE Loss vs. Nighthawk]<br /> <br /> === [[RoboGames 2015|RoboGames 2015]] ===<br /> *Results:<br /> **[https://www.youtube.com/watch?v=WX6HXlt14z4 Victory vs Heavy Metal]<br /> **[https://www.youtube.com/watch?v=GLLhz1FLHmQ Loss vs Touro Classic]<br /> <br /> === RoboGames 2013 ===<br /> <br /> *Results<br /> **[https://www.youtube.com/watch?v=aMW-srAq4i0 Victory vs Witch Doctor]<br /> ***Mandii was initially knocked around and flipped over by the opponent<br /> ***Opponent hits Mandii's weapon,&amp;nbsp;flipped itself over as a result, and tried to tackle Mandii<br /> ***This&amp;nbsp;collision disabled the opponent's weapon/only means of movement<br /> ***Opponent spewed smoke<br /> **[https://www.youtube.com/watch?v=g_Rbv6S2_18 Victory vs MPV]<br /> ***Opponent had no visible weapon/movement mechanism<br /> ***Opponent was obliterated on 2nd contact by Mandii<br /> ***Mandii sustained no visible damage<br /> **[https://www.youtube.com/watch?v=9ZJHFHIC3Mc Loss vs The Blender]<br /> ***Mandii attacked frequently, but was pushed aside by the opponent's shell<br /> ***Mandii is then viciously attacked by the enemy<br /> ***Eventually, Mandii is disabled due to the damage sustained<br /> <br /> === RoboGames 2012 ===<br /> *Results<br /> **[https://www.youtube.com/watch?v=TVaYqNl22xQ Loss vs&amp;nbsp;Wolverine]<br /> ***Constant to-and-fro hits<br /> ***Mandi was visibly&amp;nbsp;damaged, while the opponent was not<br /> ***Loss due to judge's decision<br /> <br /> = Versions =<br /> <br /> == Mandi (V1.0) ==<br /> Undocumented<br /> <br /> == Mandii (V1.0) ==<br /> <br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;______&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | Victor 885<br /> |-<br /> | Weapon Motor<br /> | AmpFlow A28-400<br /> |-<br /> | Weapon Motor Controllers<br /> | &lt;br/&gt;<br /> |-<br /> | Receiver<br /> | &lt;br/&gt;<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;&lt;br/&gt;<br /> |-<br /> | Battery<br /> | &lt;br/&gt;<br /> |-<br /> | (OTHER:)<br /> | (OTHER:)&lt;br/&gt;&lt;br/&gt;<br /> |}<br /> <br /> ==== Problems ====<br /> * Side Aluminum Armor Caved onto wheel from large hit. Prevented Drive<br /> * Live Weapon Shaft<br /> ** Deflected from hits<br /> * Needle bearings supporting drum axle shattered<br /> * Drum completely cracked through<br /> * Plastic Skids Ripped off in fight<br /> * Drum Teeth sheared off<br /> <br /> ==== Good aspects ====<br /> <br /> ==== Changes/Improvements ====<br /> <br /> == Mandiii (V3.0) ==<br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;Chelsea Silberglied, Trenton Charlson, Dustin Sloan&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> |[http://www.castlecreations.com/en/1-5th-scale-vehicles/2028-extreme-800kv-motor-060-0054-00 Castle Creations 2028 Extreme]<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> <br /> ==== Problems ====<br /> * Low Clearance 0.5&quot;. Armor same height off ground as arena lip, got stuck on edge.<br /> * Small Wheels (5&quot;), Need to be large<br /> * Difficult to service, required complete disassembly to replace belts and drum bearings.<br /> * Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.<br /> * Transmitter broke during competition. Used Hobbyking $20 Transmitter.<br /> * 3D Printed Electronics Mount Broke<br /> * Need Fastblow Fuse &lt;300A<br /> * Front Plate Fracture at screw interface with side plates, due to &lt;0.125&quot; material at bolt hole<br /> * Weapon Bearings not checked after each match<br /> ** One shattered during first match, still spun but quickly seized<br /> * Drum bolt circle was not machined properly, drums canted.<br /> * Large flat area on rear armor, got caught on arena edge<br /> * Underweight (113 lbs)<br /> <br /> ==== Good aspects ====<br /> * Reliable Drum<br /> ** Spun up fast, &lt;4 seconds<br /> ** Drum in 2 pieces, 10 0.3125&quot; Alloy Steel dowel pins<br /> ** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle<br /> ** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance<br /> ** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture<br /> ** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck<br /> * Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push &gt; 130lb person on tile floor.<br /> * All wheel drive, 4 Wheels<br /> * Stable Drive Control, robot went straight and could turn appropriately<br /> * Good Speed: 13.6 mph, 912RPM 5&quot; Wheel<br /> * Zip Tied and Electrical Taped all electronic connectors<br /> * Armor absorbed hits well<br /> ** Almost no significant damage to main frame<br /> ** Aluminum dented and sheared<br /> ** HPDE plastically deformed<br /> ** Multiple replaceable sets (2.5 Sets)<br /> ** Sheet Metal Screws, self tapping into plastic<br /> * Tolerances<br /> ** Parts fit together well. Waterjetted jigsaw fits had 0.008&quot; under sizing to interface smoothly <br /> ** Dial Indicated large parts on mill<br /> ** Custom Grooving Tool for pulley V-belt groove<br /> * Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)<br /> * External chain on drive easily serviceable<br /> * Electronics properly spec'd. Did not burn an ESC<br /> * Tapered roller bearing worked well<br /> <br /> ==== Changes/Improvements ====<br /> * Larger wheels for ground clearance, 6&quot; instead of 5&quot;<br /> ** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels<br /> ** Make hub go all the way through wheel (not 2 separate inserts)<br /> * Properly machined drum so that dowel circles line up<br /> * Larger Drum to utilize extra weight<br /> * Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts<br /> ** Smaller weapon pulley required to accommodate hole<br /> * Steel Pulley, not Aluminum<br /> * No vertical holes in front plate<br /> * Larger skids for larger wheels/drum<br /> * Extra 2 Skids further back on side plates, redundancy in case front skids shear<br /> * Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate<br /> ** Insert attached to side plate to hold in place<br /> ** Pocket armor to compensate for space<br /> * Smaller Rear Armor<br /> ** Make same profile as side armor<br /> * More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450]) <br /> ** More Torque, faster spinup and smaller weapon pulley needed due to less gearing<br /> * Brighter LEDs on top plate<br /> <br /> == Mandiii (V3.5) ==<br /> Updated by: Nicolas Castro and Daniel Choi<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> | Scorpion 450 HK-4530-450KV<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> <br /> ==== Problems ====<br /> * Newly Designed Drum<br /> * Difficult to service, required complete disassembly to replace belts and drum bearings.<br /> * Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.<br /> * Transmitter broke during competition. Used Hobbyking $20 Transmitter.<br /> * 3D Printed Electronics Mount Broke<br /> * Need Fastblow Fuse &lt;300A<br /> * Front Plate Fracture at screw interface with side plates, due to &lt;0.125&quot; material at bolt hole<br /> * Weapon Bearings not checked after each match<br /> ** One shattered during first match, still spun but quickly seized<br /> * Drum bolt circle was not machined properly, drums canted.<br /> * Large flat area on rear armor, got caught on arena edge<br /> * Underweight (113 lbs)<br /> <br /> ==== Good aspects ====<br /> * Reliable Drum<br /> ** Spun up fast, &lt;4 seconds<br /> ** Drum in 2 pieces, 10 0.3125&quot; Alloy Steel dowel pins<br /> ** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle<br /> ** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance<br /> ** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture<br /> ** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck<br /> * Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push &gt; 130lb person on tile floor.<br /> * All wheel drive, 4 Wheels<br /> * Stable Drive Control, robot went straight and could turn appropriately<br /> * Good Speed: 13.6 mph, 912RPM 5&quot; Wheel<br /> * Zip Tied and Electrical Taped all electronic connectors<br /> * Armor absorbed hits well<br /> ** Almost no significant damage to main frame<br /> ** Aluminum dented and sheared<br /> ** HPDE plastically deformed<br /> ** Multiple replaceable sets (2.5 Sets)<br /> ** Sheet Metal Screws, self tapping into plastic<br /> * Tolerances<br /> ** Parts fit together well. Waterjetted jigsaw fits had 0.008&quot; under sizing to interface smoothly <br /> ** Dial Indicated large parts on mill<br /> ** Custom Grooving Tool for pulley V-belt groove<br /> * Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)<br /> * External chain on drive easily serviceable<br /> * Electronics properly spec'd. Did not burn an ESC<br /> * Tapered roller bearing worked well<br /> <br /> ==== Changes/Improvements ====<br /> * Larger wheels for ground clearance, 6&quot; instead of 5&quot;<br /> ** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels<br /> ** Make hub go all the way through wheel (not 2 separate inserts)<br /> * Properly machined drum so that dowel circles line up<br /> * Larger Drum to utilize extra weight<br /> * Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts<br /> ** Smaller weapon pulley required to accommodate hole<br /> * Steel Pulley, not Aluminum<br /> * No vertical holes in front plate<br /> * Larger skids for larger wheels/drum<br /> * Extra 2 Skids further back on side plates, redundancy in case front skids shear<br /> * Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate<br /> ** Insert attached to side plate to hold in place<br /> ** Pocket armor to compensate for space<br /> * Smaller Rear Armor<br /> ** Make same profile as side armor<br /> * More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450]) <br /> ** More Torque, faster spinup and smaller weapon pulley needed due to less gearing<br /> * Brighter LEDs on top plate<br /> <br /> == See also ==<br /> <br /> == Notes: ==<br /> <br /> Successor to [[Soafi|Soafi]]&amp;nbsp;<br /> <br /> &lt;span style=&quot;line-height: 20.7999992370605px&quot;&gt;&lt;/span&gt;<br /> [[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:MiddleWeights]]</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Mandi&diff=16236 2018-05-24T00:14:02Z

<p>Ncastro9: </p> <hr /> <div>{| class=&quot;wikitable&quot; align=&quot;right&quot;<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Mandiii<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; |[[File:MandiiiV3.jpg|right|frameless|480x480px|DrumRoll, please]]<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Year Of Creation<br /> | {{{year|2010-2011}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Versions<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Current Version<br /> | {{{currver|3.5}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Update Year<br /> | {{{updyr|2012-2013, 2014-2015, 2016-2017, 2017-2018}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Information and Statistics<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weight Class<br /> | {{{wc|120lb Middle Weight}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weapon Class<br /> | {{{weapc|Drum Spinner}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Wins/Losses/Byes<br /> | {{{winloss|12/10/2}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|{&quot;Temporary&quot;)}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|(&quot;Temporary&quot;)}}}<br /> |}<br /> <br /> = Competitions =<br /> <br /> === [[RoboGames 2018|RoboGames 2018]] ===<br /> *Results<br /> ** Win vs. Robotto<br /> ** Win vs. Herbert's Revenge<br /> ** Win vs. Railgun S<br /> ** Loss vs. General<br /> ** Semifinals - Win vs. Uppercut<br /> ** Finals - Loss vs. General<br /> <br /> <br /> === [https://wiki.robojackets.org/w/RoboGames_2017 RoboGames 2017] ===<br /> * Results<br /> ** [https://www.youtube.com/watch?v=JUffCGoJ4kk Loss vs. Cat Kong]<br /> ** [https://www.youtube.com/watch?v=BAYflYm80sQ Win vs. Houston]<br /> ** [https://www.youtube.com/watch?v=yPc6X6ShpKE Loss vs. Nighthawk]<br /> <br /> === [[RoboGames 2015|RoboGames 2015]] ===<br /> *Results:<br /> **[https://www.youtube.com/watch?v=WX6HXlt14z4 Victory vs Heavy Metal]<br /> **[https://www.youtube.com/watch?v=GLLhz1FLHmQ Loss vs Touro Classic]<br /> <br /> === RoboGames 2013 ===<br /> <br /> *Results<br /> **[https://www.youtube.com/watch?v=aMW-srAq4i0 Victory vs Witch Doctor]<br /> ***Mandii was initially knocked around and flipped over by the opponent<br /> ***Opponent hits Mandii's weapon,&amp;nbsp;flipped itself over as a result, and tried to tackle Mandii<br /> ***This&amp;nbsp;collision disabled the opponent's weapon/only means of movement<br /> ***Opponent spewed smoke<br /> **[https://www.youtube.com/watch?v=g_Rbv6S2_18 Victory vs MPV]<br /> ***Opponent had no visible weapon/movement mechanism<br /> ***Opponent was obliterated on 2nd contact by Mandii<br /> ***Mandii sustained no visible damage<br /> **[https://www.youtube.com/watch?v=9ZJHFHIC3Mc Loss vs The Blender]<br /> ***Mandii attacked frequently, but was pushed aside by the opponent's shell<br /> ***Mandii is then viciously attacked by the enemy<br /> ***Eventually, Mandii is disabled due to the damage sustained<br /> <br /> === RoboGames 2012 ===<br /> *Results<br /> **[https://www.youtube.com/watch?v=TVaYqNl22xQ Loss vs&amp;nbsp;Wolverine]<br /> ***Constant to-and-fro hits<br /> ***Mandi was visibly&amp;nbsp;damaged, while the opponent was not<br /> ***Loss due to judge's decision<br /> <br /> = Versions =<br /> <br /> == Mandi (V1.0) ==<br /> Undocumented<br /> <br /> == Mandii (V1.0) ==<br /> <br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;______&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | Victor 885<br /> |-<br /> | Weapon Motor<br /> | AmpFlow A28-400<br /> |-<br /> | Weapon Motor Controllers<br /> | &lt;br/&gt;<br /> |-<br /> | Receiver<br /> | &lt;br/&gt;<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;&lt;br/&gt;<br /> |-<br /> | Battery<br /> | &lt;br/&gt;<br /> |-<br /> | (OTHER:)<br /> | (OTHER:)&lt;br/&gt;&lt;br/&gt;<br /> |}<br /> <br /> ==== Problems ====<br /> * Side Aluminum Armor Caved onto wheel from large hit. Prevented Drive<br /> * Live Weapon Shaft<br /> ** Deflected from hits<br /> * Needle bearings supporting drum axle shattered<br /> * Drum completely cracked through<br /> * Plastic Skids Ripped off in fight<br /> * Drum Teeth sheared off<br /> <br /> ==== Good aspects ====<br /> <br /> ==== Changes/Improvements ====<br /> <br /> == Mandiii (V3.0) ==<br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;Chelsea Silberglied, Trenton Charlson, Dustin Sloan&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> |[http://www.castlecreations.com/en/1-5th-scale-vehicles/2028-extreme-800kv-motor-060-0054-00 Castle Creations 2028 Extreme]<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> <br /> ==== Problems ====<br /> * Low Clearance 0.5&quot;. Armor same height off ground as arena lip, got stuck on edge.<br /> * Small Wheels (5&quot;), Need to be large<br /> * Difficult to service, required complete disassembly to replace belts and drum bearings.<br /> * Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.<br /> * Transmitter broke during competition. Used Hobbyking $20 Transmitter.<br /> * 3D Printed Electronics Mount Broke<br /> * Need Fastblow Fuse &lt;300A<br /> * Front Plate Fracture at screw interface with side plates, due to &lt;0.125&quot; material at bolt hole<br /> * Weapon Bearings not checked after each match<br /> ** One shattered during first match, still spun but quickly seized<br /> * Drum bolt circle was not machined properly, drums canted.<br /> * Large flat area on rear armor, got caught on arena edge<br /> * Underweight (113 lbs)<br /> <br /> ==== Good aspects ====<br /> * Reliable Drum<br /> ** Spun up fast, &lt;4 seconds<br /> ** Drum in 2 pieces, 10 0.3125&quot; Alloy Steel dowel pins<br /> ** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle<br /> ** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance<br /> ** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture<br /> ** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck<br /> * Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push &gt; 130lb person on tile floor.<br /> * All wheel drive, 4 Wheels<br /> * Stable Drive Control, robot went straight and could turn appropriately<br /> * Good Speed: 13.6 mph, 912RPM 5&quot; Wheel<br /> * Zip Tied and Electrical Taped all electronic connectors<br /> * Armor absorbed hits well<br /> ** Almost no significant damage to main frame<br /> ** Aluminum dented and sheared<br /> ** HPDE plastically deformed<br /> ** Multiple replaceable sets (2.5 Sets)<br /> ** Sheet Metal Screws, self tapping into plastic<br /> * Tolerances<br /> ** Parts fit together well. Waterjetted jigsaw fits had 0.008&quot; under sizing to interface smoothly <br /> ** Dial Indicated large parts on mill<br /> ** Custom Grooving Tool for pulley V-belt groove<br /> * Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)<br /> * External chain on drive easily serviceable<br /> * Electronics properly spec'd. Did not burn an ESC<br /> * Tapered roller bearing worked well<br /> <br /> ==== Changes/Improvements ====<br /> * Larger wheels for ground clearance, 6&quot; instead of 5&quot;<br /> ** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels<br /> ** Make hub go all the way through wheel (not 2 separate inserts)<br /> * Properly machined drum so that dowel circles line up<br /> * Larger Drum to utilize extra weight<br /> * Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts<br /> ** Smaller weapon pulley required to accommodate hole<br /> * Steel Pulley, not Aluminum<br /> * No vertical holes in front plate<br /> * Larger skids for larger wheels/drum<br /> * Extra 2 Skids further back on side plates, redundancy in case front skids shear<br /> * Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate<br /> ** Insert attached to side plate to hold in place<br /> ** Pocket armor to compensate for space<br /> * Smaller Rear Armor<br /> ** Make same profile as side armor<br /> * More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450]) <br /> ** More Torque, faster spinup and smaller weapon pulley needed due to less gearing<br /> * Brighter LEDs on top plate<br /> <br /> == Mandiii (V3.5) ==<br /> Updated by: Nicolas Castro and Daniel Choi<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> | Scorpion 450 HK-4530-450KV<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> <br /> ==== Problems ====<br /> * Low Clearance 0.5&quot;. Armor same height off ground as arena lip, got stuck on edge.<br /> * Small Wheels (5&quot;), Need to be large<br /> * Difficult to service, required complete disassembly to replace belts and drum bearings.<br /> * Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.<br /> * Transmitter broke during competition. Used Hobbyking $20 Transmitter.<br /> * 3D Printed Electronics Mount Broke<br /> * Need Fastblow Fuse &lt;300A<br /> * Front Plate Fracture at screw interface with side plates, due to &lt;0.125&quot; material at bolt hole<br /> * Weapon Bearings not checked after each match<br /> ** One shattered during first match, still spun but quickly seized<br /> * Drum bolt circle was not machined properly, drums canted.<br /> * Large flat area on rear armor, got caught on arena edge<br /> * Underweight (113 lbs)<br /> <br /> ==== Good aspects ====<br /> * Reliable Drum<br /> ** Spun up fast, &lt;4 seconds<br /> ** Drum in 2 pieces, 10 0.3125&quot; Alloy Steel dowel pins<br /> ** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle<br /> ** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance<br /> ** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture<br /> ** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck<br /> * Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push &gt; 130lb person on tile floor.<br /> * All wheel drive, 4 Wheels<br /> * Stable Drive Control, robot went straight and could turn appropriately<br /> * Good Speed: 13.6 mph, 912RPM 5&quot; Wheel<br /> * Zip Tied and Electrical Taped all electronic connectors<br /> * Armor absorbed hits well<br /> ** Almost no significant damage to main frame<br /> ** Aluminum dented and sheared<br /> ** HPDE plastically deformed<br /> ** Multiple replaceable sets (2.5 Sets)<br /> ** Sheet Metal Screws, self tapping into plastic<br /> * Tolerances<br /> ** Parts fit together well. Waterjetted jigsaw fits had 0.008&quot; under sizing to interface smoothly <br /> ** Dial Indicated large parts on mill<br /> ** Custom Grooving Tool for pulley V-belt groove<br /> * Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)<br /> * External chain on drive easily serviceable<br /> * Electronics properly spec'd. Did not burn an ESC<br /> * Tapered roller bearing worked well<br /> <br /> ==== Changes/Improvements ====<br /> * Larger wheels for ground clearance, 6&quot; instead of 5&quot;<br /> ** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels<br /> ** Make hub go all the way through wheel (not 2 separate inserts)<br /> * Properly machined drum so that dowel circles line up<br /> * Larger Drum to utilize extra weight<br /> * Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts<br /> ** Smaller weapon pulley required to accommodate hole<br /> * Steel Pulley, not Aluminum<br /> * No vertical holes in front plate<br /> * Larger skids for larger wheels/drum<br /> * Extra 2 Skids further back on side plates, redundancy in case front skids shear<br /> * Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate<br /> ** Insert attached to side plate to hold in place<br /> ** Pocket armor to compensate for space<br /> * Smaller Rear Armor<br /> ** Make same profile as side armor<br /> * More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450]) <br /> ** More Torque, faster spinup and smaller weapon pulley needed due to less gearing<br /> * Brighter LEDs on top plate<br /> <br /> == See also ==<br /> <br /> == Notes: ==<br /> <br /> Successor to [[Soafi|Soafi]]&amp;nbsp;<br /> <br /> &lt;span style=&quot;line-height: 20.7999992370605px&quot;&gt;&lt;/span&gt;<br /> [[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:MiddleWeights]]</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Mandi&diff=16235 2018-05-24T00:06:19Z

<p>Ncastro9: </p> <hr /> <div>{| class=&quot;wikitable&quot; align=&quot;right&quot;<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Mandiii<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; |[[File:MandiiiV3.jpg|right|frameless|480x480px|DrumRoll, please]]<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Year Of Creation<br /> | {{{year|2010-2011}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Versions<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Current Version<br /> | {{{currver|3.5}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Update Year<br /> | {{{updyr|2012-2013, 2014-2015, 2016-2017, 2017-2018}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Information and Statistics<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weight Class<br /> | {{{wc|120lb Middle Weight}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weapon Class<br /> | {{{weapc|Drum Spinner}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Wins/Losses/Byes<br /> | {{{winloss|12/10/2}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|{&quot;Temporary&quot;)}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|(&quot;Temporary&quot;)}}}<br /> |}<br /> <br /> = Competitions =<br /> <br /> === [[RoboGames 2018|RoboGames 2018]] ===<br /> *Results<br /> ** Win vs. Robotto<br /> ** Win vs. Herbert's Revenge<br /> ** Win vs. Railgun S<br /> ** Loss vs. General<br /> ** Semifinals - Win vs. Uppercut<br /> ** Finals - Loss vs. General<br /> <br /> <br /> === [https://wiki.robojackets.org/w/RoboGames_2017 RoboGames 2017] ===<br /> * Results<br /> ** [https://www.youtube.com/watch?v=JUffCGoJ4kk Loss vs. Cat Kong]<br /> ** [https://www.youtube.com/watch?v=BAYflYm80sQ Win vs. Houston]<br /> ** [https://www.youtube.com/watch?v=yPc6X6ShpKE Loss vs. Nighthawk]<br /> <br /> === [[RoboGames 2015|RoboGames 2015]] ===<br /> *Results:<br /> **[https://www.youtube.com/watch?v=WX6HXlt14z4 Victory vs Heavy Metal]<br /> **[https://www.youtube.com/watch?v=GLLhz1FLHmQ Loss vs Touro Classic]<br /> <br /> === RoboGames 2013 ===<br /> <br /> *Results<br /> **[https://www.youtube.com/watch?v=aMW-srAq4i0 Victory vs Witch Doctor]<br /> ***Mandii was initially knocked around and flipped over by the opponent<br /> ***Opponent hits Mandii's weapon,&amp;nbsp;flipped itself over as a result, and tried to tackle Mandii<br /> ***This&amp;nbsp;collision disabled the opponent's weapon/only means of movement<br /> ***Opponent spewed smoke<br /> **[https://www.youtube.com/watch?v=g_Rbv6S2_18 Victory vs MPV]<br /> ***Opponent had no visible weapon/movement mechanism<br /> ***Opponent was obliterated on 2nd contact by Mandii<br /> ***Mandii sustained no visible damage<br /> **[https://www.youtube.com/watch?v=9ZJHFHIC3Mc Loss vs The Blender]<br /> ***Mandii attacked frequently, but was pushed aside by the opponent's shell<br /> ***Mandii is then viciously attacked by the enemy<br /> ***Eventually, Mandii is disabled due to the damage sustained<br /> <br /> === RoboGames 2012 ===<br /> *Results<br /> **[https://www.youtube.com/watch?v=TVaYqNl22xQ Loss vs&amp;nbsp;Wolverine]<br /> ***Constant to-and-fro hits<br /> ***Mandi was visibly&amp;nbsp;damaged, while the opponent was not<br /> ***Loss due to judge's decision<br /> <br /> = Versions =<br /> <br /> == Mandi (V1.0) ==<br /> Undocumented<br /> <br /> == Mandii (V1.0) ==<br /> <br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;______&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | Victor 885<br /> |-<br /> | Weapon Motor<br /> | AmpFlow A28-400<br /> |-<br /> | Weapon Motor Controllers<br /> | &lt;br/&gt;<br /> |-<br /> | Receiver<br /> | &lt;br/&gt;<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;&lt;br/&gt;<br /> |-<br /> | Battery<br /> | &lt;br/&gt;<br /> |-<br /> | (OTHER:)<br /> | (OTHER:)&lt;br/&gt;&lt;br/&gt;<br /> |}<br /> <br /> ==== Problems ====<br /> * Side Aluminum Armor Caved onto wheel from large hit. Prevented Drive<br /> * Live Weapon Shaft<br /> ** Deflected from hits<br /> * Needle bearings supporting drum axle shattered<br /> * Drum completely cracked through<br /> * Plastic Skids Ripped off in fight<br /> * Drum Teeth sheared off<br /> <br /> ==== Good aspects ====<br /> <br /> ==== Changes/Improvements ====<br /> <br /> == Mandiii (V3.0) ==<br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;Chelsea Silberglied, Trenton Charlson, Dustin Sloan&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> |[http://www.castlecreations.com/en/1-5th-scale-vehicles/2028-extreme-800kv-motor-060-0054-00 Castle Creations 2028 Extreme]<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> <br /> ==== Problems ====<br /> * Low Clearance 0.5&quot;. Armor same height off ground as arena lip, got stuck on edge.<br /> * Small Wheels (5&quot;), Need to be large<br /> * Difficult to service, required complete disassembly to replace belts and drum bearings.<br /> * Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.<br /> * Transmitter broke during competition. Used Hobbyking $20 Transmitter.<br /> * 3D Printed Electronics Mount Broke<br /> * Need Fastblow Fuse &lt;300A<br /> * Front Plate Fracture at screw interface with side plates, due to &lt;0.125&quot; material at bolt hole<br /> * Weapon Bearings not checked after each match<br /> ** One shattered during first match, still spun but quickly seized<br /> * Drum bolt circle was not machined properly, drums canted.<br /> * Large flat area on rear armor, got caught on arena edge<br /> * Underweight (113 lbs)<br /> <br /> ==== Good aspects ====<br /> * Reliable Drum<br /> ** Spun up fast, &lt;4 seconds<br /> ** Drum in 2 pieces, 10 0.3125&quot; Alloy Steel dowel pins<br /> ** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle<br /> ** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance<br /> ** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture<br /> ** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck<br /> * Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push &gt; 130lb person on tile floor.<br /> * All wheel drive, 4 Wheels<br /> * Stable Drive Control, robot went straight and could turn appropriately<br /> * Good Speed: 13.6 mph, 912RPM 5&quot; Wheel<br /> * Zip Tied and Electrical Taped all electronic connectors<br /> * Armor absorbed hits well<br /> ** Almost no significant damage to main frame<br /> ** Aluminum dented and sheared<br /> ** HPDE plastically deformed<br /> ** Multiple replaceable sets (2.5 Sets)<br /> ** Sheet Metal Screws, self tapping into plastic<br /> * Tolerances<br /> ** Parts fit together well. Waterjetted jigsaw fits had 0.008&quot; under sizing to interface smoothly <br /> ** Dial Indicated large parts on mill<br /> ** Custom Grooving Tool for pulley V-belt groove<br /> * Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)<br /> * External chain on drive easily serviceable<br /> * Electronics properly spec'd. Did not burn an ESC<br /> * Tapered roller bearing worked well<br /> <br /> ==== Changes/Improvements ====<br /> * Larger wheels for ground clearance, 6&quot; instead of 5&quot;<br /> ** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels<br /> ** Make hub go all the way through wheel (not 2 separate inserts)<br /> * Properly machined drum so that dowel circles line up<br /> * Larger Drum to utilize extra weight<br /> * Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts<br /> ** Smaller weapon pulley required to accommodate hole<br /> * Steel Pulley, not Aluminum<br /> * No vertical holes in front plate<br /> * Larger skids for larger wheels/drum<br /> * Extra 2 Skids further back on side plates, redundancy in case front skids shear<br /> * Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate<br /> ** Insert attached to side plate to hold in place<br /> ** Pocket armor to compensate for space<br /> * Smaller Rear Armor<br /> ** Make same profile as side armor<br /> * More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450]) <br /> ** More Torque, faster spinup and smaller weapon pulley needed due to less gearing<br /> * Brighter LEDs on top plate<br /> <br /> == See also ==<br /> <br /> == Notes: ==<br /> <br /> Successor to [[Soafi|Soafi]]&amp;nbsp;<br /> <br /> &lt;span style=&quot;line-height: 20.7999992370605px&quot;&gt;&lt;/span&gt;<br /> [[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:MiddleWeights]]</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Mandi&diff=16234 2018-05-24T00:05:27Z

<p>Ncastro9: </p> <hr /> <div>{| class=&quot;wikitable&quot; align=&quot;right&quot;<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Mandiii<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; |[[File:MandiiiV3.jpg|right|frameless|480x480px|DrumRoll, please]]<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Year Of Creation<br /> | {{{year|2010-2011}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Versions<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Current Version<br /> | {{{currver|3.5}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Update Year<br /> | {{{updyr|2012-2013, 2014-2015, 2016-2017, 2017-2018}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Information and Statistics<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weight Class<br /> | {{{wc|120lb Middle Weight}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weapon Class<br /> | {{{weapc|Drum Spinner}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Wins/Losses/Byes<br /> | {{{winloss|12/10/2}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|{&quot;Temporary&quot;)}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|(&quot;Temporary&quot;)}}}<br /> |}<br /> <br /> = Competitions =<br /> <br /> === [[RoboGames 2018|RoboGames 2018]] ===<br /> *Results<br /> ** Win vs. Robotto<br /> ** Win vs. Herbert's Revenge<br /> ** Win vs. Railgun S<br /> ** Loss vs. General<br /> ** Semifinals - Win vs. Uppercut<br /> ** Finals - Loss vs. General<br /> <br /> <br /> === [https://wiki.robojackets.org/w/RoboGames_2017 RoboGames 2017] ===<br /> * Results<br /> ** [https://www.youtube.com/watch?v=JUffCGoJ4kk Loss vs. Cat Kong]<br /> ** [https://www.youtube.com/watch?v=BAYflYm80sQ Win vs. Houston]<br /> ** [https://www.youtube.com/watch?v=yPc6X6ShpKE Loss vs. Nighthawk]<br /> <br /> === [[RoboGames 2015|RoboGames 2015]] ===<br /> *Results:<br /> **[https://www.youtube.com/watch?v=WX6HXlt14z4 Victory vs Heavy Metal]<br /> **[https://www.youtube.com/watch?v=GLLhz1FLHmQ Loss vs Touro Classic]<br /> <br /> === RoboGames 2013 ===<br /> <br /> *Results<br /> **[https://www.youtube.com/watch?v=aMW-srAq4i0 Victory vs Witch Doctor]<br /> ***Mandii was initially knocked around and flipped over by the opponent<br /> ***Opponent hits Mandii's weapon,&amp;nbsp;flipped itself over as a result, and tried to tackle Mandii<br /> ***This&amp;nbsp;collision disabled the opponent's weapon/only means of movement<br /> ***Opponent spewed smoke<br /> **[https://www.youtube.com/watch?v=g_Rbv6S2_18 Victory vs MPV]<br /> ***Opponent had no visible weapon/movement mechanism<br /> ***Opponent was obliterated on 2nd contact by Mandii<br /> ***Mandii sustained no visible damage<br /> **[https://www.youtube.com/watch?v=9ZJHFHIC3Mc Loss vs The Blender]<br /> ***Mandii attacked frequently, but was pushed aside by the opponent's shell<br /> ***Mandii is then viciously attacked by the enemy<br /> ***Eventually, Mandii is disabled due to the damage sustained<br /> <br /> === RoboGames 2012 ===<br /> *Results<br /> **[https://www.youtube.com/watch?v=TVaYqNl22xQ Loss vs&amp;nbsp;Wolverine]<br /> ***Constant to-and-fro hits<br /> ***Mandi was visibly&amp;nbsp;damaged, while the opponent was not<br /> ***Loss due to judge's decision<br /> <br /> = Versions =<br /> <br /> == Mandi (V1.0) ==<br /> Undocumented<br /> <br /> == Mandii (V1.0) ==<br /> <br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;______&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | Victor 885<br /> |-<br /> | Weapon Motor<br /> | AmpFlow A28-400<br /> |-<br /> | Weapon Motor Controllers<br /> | &lt;br/&gt;<br /> |-<br /> | Receiver<br /> | &lt;br/&gt;<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;&lt;br/&gt;<br /> |-<br /> | Battery<br /> | &lt;br/&gt;<br /> |-<br /> | (OTHER:)<br /> | (OTHER:)&lt;br/&gt;&lt;br/&gt;<br /> |}<br /> <br /> ==== Problems ====<br /> * Side Aluminum Armor Caved onto wheel from large hit. Prevented Drive<br /> * Live Weapon Shaft<br /> ** Deflected from hits<br /> * Needle bearings supporting drum axle shattered<br /> * Drum completely cracked through<br /> * Plastic Skids Ripped off in fight<br /> * Drum Teeth sheared off<br /> <br /> ==== Good aspects ====<br /> <br /> ==== Changes/Improvements ====<br /> <br /> == Mandiii (V3.0) ==<br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;Chelsea Silberglied, Trenton Charlson, Dustin Sloan&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> |[http://www.castlecreations.com/en/1-5th-scale-vehicles/2028-extreme-800kv-motor-060-0054-00 Castle Creations 2028 Extreme]<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> <br /> ==== Problems ====<br /> * Low Clearance 0.5&quot;. Armor same height off ground as arena lip, got stuck on edge.<br /> * Small Wheels (5&quot;), Need to be large<br /> * Difficult to service, required complete disassembly to replace belts and drum bearings.<br /> * Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.<br /> * Transmitter broke during competition. Used Hobbyking $20 Transmitter.<br /> * 3D Printed Electronics Mount Broke<br /> * Need Fastblow Fuse &lt;300A<br /> * Front Plate Fracture at screw interface with side plates, due to &lt;0.125&quot; material at bolt hole<br /> * Weapon Bearings not checked after each match<br /> ** One shattered during first match, still spun but quickly seized<br /> * Drum bolt circle was not machined properly, drums canted.<br /> * Large flat area on rear armor, got caught on arena edge<br /> * Underweight (113 lbs)<br /> <br /> ==== Good aspects ====<br /> * Reliable Drum<br /> ** Spun up fast, &lt;4 seconds<br /> ** Drum in 2 pieces, 10 0.3125&quot; Alloy Steel dowel pins<br /> ** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle<br /> ** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance<br /> ** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture<br /> ** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck<br /> * Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push &gt; 130lb person on tile floor.<br /> * All wheel drive, 4 Wheels<br /> * Stable Drive Control, robot went straight and could turn appropriately<br /> * Good Speed: 13.6 mph, 912RPM 5&quot; Wheel<br /> * Zip Tied and Electrical Taped all electronic connectors<br /> * Armor absorbed hits well<br /> ** Almost no significant damage to main frame<br /> ** Aluminum dented and sheared<br /> ** HPDE plastically deformed<br /> ** Multiple replaceable sets (2.5 Sets)<br /> ** Sheet Metal Screws, self tapping into plastic<br /> * Tolerances<br /> ** Parts fit together well. Waterjetted jigsaw fits had 0.008&quot; under sizing to interface smoothly <br /> ** Dial Indicated large parts on mill<br /> ** Custom Grooving Tool for pulley V-belt groove<br /> * Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)<br /> * External chain on drive easily serviceable<br /> * Electronics properly spec'd. Did not burn an ESC<br /> * Tapered roller bearing worked well<br /> <br /> ==== Changes/Improvements ====<br /> * Larger wheels for ground clearance, 6&quot; instead of 5&quot;<br /> ** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels<br /> ** Make hub go all the way through wheel (not 2 separate inserts)<br /> * Properly machined drum so that dowel circles line up<br /> * Larger Drum to utilize extra weight<br /> * Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts<br /> ** Smaller weapon pulley required to accommodate hole<br /> * Steel Pulley, not Aluminum<br /> * No vertical holes in front plate<br /> * Larger skids for larger wheels/drum<br /> * Extra 2 Skids further back on side plates, redundancy in case front skids shear<br /> * Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate<br /> ** Insert attached to side plate to hold in place<br /> ** Pocket armor to compensate for space<br /> * Smaller Rear Armor<br /> ** Make same profile as side armor<br /> * More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450]) <br /> ** More Torque, faster spinup and smaller weapon pulley needed due to less gearing<br /> * Brighter LEDs on top plate<br /> <br /> == See also ==<br /> <br /> == Notes: ==<br /> <br /> Successor to [[Soafi|Soafi]]&amp;nbsp;<br /> <br /> &lt;span style=&quot;line-height: 20.7999992370605px&quot;&gt;Built by _____&lt;/span&gt;<br /> [[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:MiddleWeights]]</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Mandi&diff=16233 2018-05-24T00:03:29Z

<p>Ncastro9: </p> <hr /> <div>{| class=&quot;wikitable&quot; align=&quot;right&quot;<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Mandiii<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; |[[File:MandiiiV3.jpg|right|frameless|480x480px|DrumRoll, please]]<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Year Of Creation<br /> | {{{year|2010-2011}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Versions<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Current Version<br /> | {{{currver|3.5}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Update Year<br /> | {{{updyr|2012-2013, 2014-2015, 2016-2017, 2017-2018}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Information and Statistics<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weight Class<br /> | {{{wc|120lb Middle Weight}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weapon Class<br /> | {{{weapc|Drum Spinner}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Wins/Losses/Byes<br /> | {{{winloss|12/10/2}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|{&quot;Temporary&quot;)}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|(&quot;Temporary&quot;)}}}<br /> |}<br /> <br /> = Competitions =<br /> <br /> === [[RoboGames 2018|RoboGames 2018]] ===<br /> *Results<br /> ** Win vs. Robotto<br /> <br /> <br /> === [https://wiki.robojackets.org/w/RoboGames_2017 RoboGames 2017] ===<br /> * Results<br /> ** [https://www.youtube.com/watch?v=JUffCGoJ4kk Loss vs. Cat Kong]<br /> ** [https://www.youtube.com/watch?v=BAYflYm80sQ Win vs. Houston]<br /> ** [https://www.youtube.com/watch?v=yPc6X6ShpKE Loss vs. Nighthawk]<br /> <br /> === [[RoboGames 2015|RoboGames 2015]] ===<br /> *Results:<br /> **[https://www.youtube.com/watch?v=WX6HXlt14z4 Victory vs Heavy Metal]<br /> **[https://www.youtube.com/watch?v=GLLhz1FLHmQ Loss vs Touro Classic]<br /> <br /> === RoboGames 2013 ===<br /> <br /> *Results<br /> **[https://www.youtube.com/watch?v=aMW-srAq4i0 Victory vs Witch Doctor]<br /> ***Mandii was initially knocked around and flipped over by the opponent<br /> ***Opponent hits Mandii's weapon,&amp;nbsp;flipped itself over as a result, and tried to tackle Mandii<br /> ***This&amp;nbsp;collision disabled the opponent's weapon/only means of movement<br /> ***Opponent spewed smoke<br /> **[https://www.youtube.com/watch?v=g_Rbv6S2_18 Victory vs MPV]<br /> ***Opponent had no visible weapon/movement mechanism<br /> ***Opponent was obliterated on 2nd contact by Mandii<br /> ***Mandii sustained no visible damage<br /> **[https://www.youtube.com/watch?v=9ZJHFHIC3Mc Loss vs The Blender]<br /> ***Mandii attacked frequently, but was pushed aside by the opponent's shell<br /> ***Mandii is then viciously attacked by the enemy<br /> ***Eventually, Mandii is disabled due to the damage sustained<br /> <br /> === RoboGames 2012 ===<br /> *Results<br /> **[https://www.youtube.com/watch?v=TVaYqNl22xQ Loss vs&amp;nbsp;Wolverine]<br /> ***Constant to-and-fro hits<br /> ***Mandi was visibly&amp;nbsp;damaged, while the opponent was not<br /> ***Loss due to judge's decision<br /> <br /> = Versions =<br /> <br /> == Mandi (V1.0) ==<br /> Undocumented<br /> <br /> == Mandii (V1.0) ==<br /> <br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;______&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | Victor 885<br /> |-<br /> | Weapon Motor<br /> | AmpFlow A28-400<br /> |-<br /> | Weapon Motor Controllers<br /> | &lt;br/&gt;<br /> |-<br /> | Receiver<br /> | &lt;br/&gt;<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;&lt;br/&gt;<br /> |-<br /> | Battery<br /> | &lt;br/&gt;<br /> |-<br /> | (OTHER:)<br /> | (OTHER:)&lt;br/&gt;&lt;br/&gt;<br /> |}<br /> <br /> ==== Problems ====<br /> * Side Aluminum Armor Caved onto wheel from large hit. Prevented Drive<br /> * Live Weapon Shaft<br /> ** Deflected from hits<br /> * Needle bearings supporting drum axle shattered<br /> * Drum completely cracked through<br /> * Plastic Skids Ripped off in fight<br /> * Drum Teeth sheared off<br /> <br /> ==== Good aspects ====<br /> <br /> ==== Changes/Improvements ====<br /> <br /> == Mandiii (V3.0) ==<br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;Chelsea Silberglied, Trenton Charlson, Dustin Sloan&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> |[http://www.castlecreations.com/en/1-5th-scale-vehicles/2028-extreme-800kv-motor-060-0054-00 Castle Creations 2028 Extreme]<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> <br /> ==== Problems ====<br /> * Low Clearance 0.5&quot;. Armor same height off ground as arena lip, got stuck on edge.<br /> * Small Wheels (5&quot;), Need to be large<br /> * Difficult to service, required complete disassembly to replace belts and drum bearings.<br /> * Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.<br /> * Transmitter broke during competition. Used Hobbyking $20 Transmitter.<br /> * 3D Printed Electronics Mount Broke<br /> * Need Fastblow Fuse &lt;300A<br /> * Front Plate Fracture at screw interface with side plates, due to &lt;0.125&quot; material at bolt hole<br /> * Weapon Bearings not checked after each match<br /> ** One shattered during first match, still spun but quickly seized<br /> * Drum bolt circle was not machined properly, drums canted.<br /> * Large flat area on rear armor, got caught on arena edge<br /> * Underweight (113 lbs)<br /> <br /> ==== Good aspects ====<br /> * Reliable Drum<br /> ** Spun up fast, &lt;4 seconds<br /> ** Drum in 2 pieces, 10 0.3125&quot; Alloy Steel dowel pins<br /> ** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle<br /> ** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance<br /> ** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture<br /> ** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck<br /> * Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push &gt; 130lb person on tile floor.<br /> * All wheel drive, 4 Wheels<br /> * Stable Drive Control, robot went straight and could turn appropriately<br /> * Good Speed: 13.6 mph, 912RPM 5&quot; Wheel<br /> * Zip Tied and Electrical Taped all electronic connectors<br /> * Armor absorbed hits well<br /> ** Almost no significant damage to main frame<br /> ** Aluminum dented and sheared<br /> ** HPDE plastically deformed<br /> ** Multiple replaceable sets (2.5 Sets)<br /> ** Sheet Metal Screws, self tapping into plastic<br /> * Tolerances<br /> ** Parts fit together well. Waterjetted jigsaw fits had 0.008&quot; under sizing to interface smoothly <br /> ** Dial Indicated large parts on mill<br /> ** Custom Grooving Tool for pulley V-belt groove<br /> * Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)<br /> * External chain on drive easily serviceable<br /> * Electronics properly spec'd. Did not burn an ESC<br /> * Tapered roller bearing worked well<br /> <br /> ==== Changes/Improvements ====<br /> * Larger wheels for ground clearance, 6&quot; instead of 5&quot;<br /> ** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels<br /> ** Make hub go all the way through wheel (not 2 separate inserts)<br /> * Properly machined drum so that dowel circles line up<br /> * Larger Drum to utilize extra weight<br /> * Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts<br /> ** Smaller weapon pulley required to accommodate hole<br /> * Steel Pulley, not Aluminum<br /> * No vertical holes in front plate<br /> * Larger skids for larger wheels/drum<br /> * Extra 2 Skids further back on side plates, redundancy in case front skids shear<br /> * Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate<br /> ** Insert attached to side plate to hold in place<br /> ** Pocket armor to compensate for space<br /> * Smaller Rear Armor<br /> ** Make same profile as side armor<br /> * More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450]) <br /> ** More Torque, faster spinup and smaller weapon pulley needed due to less gearing<br /> * Brighter LEDs on top plate<br /> <br /> == See also ==<br /> <br /> == Notes: ==<br /> <br /> Successor to [[Soafi|Soafi]]&amp;nbsp;<br /> <br /> &lt;span style=&quot;line-height: 20.7999992370605px&quot;&gt;Built by _____&lt;/span&gt;<br /> [[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:MiddleWeights]]</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Mandi&diff=16232 2018-05-24T00:02:33Z

<p>Ncastro9: </p> <hr /> <div>{| class=&quot;wikitable&quot; align=&quot;right&quot;<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Mandiii<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; |[[File:MandiiiV3.jpg|right|frameless|480x480px|DrumRoll, please]]<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Year Of Creation<br /> | {{{year|2010-2011}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Versions<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Current Version<br /> | {{{currver|3.5}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Update Year<br /> | {{{updyr|2012-2013, 2014-2015, 2016-2017, 2017-2018}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Information and Statistics<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weight Class<br /> | {{{wc|120lb Middle Weight}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weapon Class<br /> | {{{weapc|Drum Spinner}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Wins/Losses/Byes<br /> | {{{winloss|12/10/2}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|{&quot;Temporary&quot;)}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|(&quot;Temporary&quot;)}}}<br /> |}<br /> <br /> = Competitions =<br /> <br /> === [[RoboGames 2018|RoboGames 2018]] ===<br /> *Results<br /> <br /> <br /> === [https://wiki.robojackets.org/w/RoboGames_2017 RoboGames 2017] ===<br /> * Results<br /> ** [https://www.youtube.com/watch?v=JUffCGoJ4kk Loss vs. Cat Kong]<br /> ** [https://www.youtube.com/watch?v=BAYflYm80sQ Win vs. Houston]<br /> ** [https://www.youtube.com/watch?v=yPc6X6ShpKE Loss vs. Nighthawk]<br /> <br /> === [[RoboGames 2015|RoboGames 2015]] ===<br /> *Results:<br /> **[https://www.youtube.com/watch?v=WX6HXlt14z4 Victory vs Heavy Metal]<br /> **[https://www.youtube.com/watch?v=GLLhz1FLHmQ Loss vs Touro Classic]<br /> <br /> === RoboGames 2013 ===<br /> <br /> *Results<br /> **[https://www.youtube.com/watch?v=aMW-srAq4i0 Victory vs Witch Doctor]<br /> ***Mandii was initially knocked around and flipped over by the opponent<br /> ***Opponent hits Mandii's weapon,&amp;nbsp;flipped itself over as a result, and tried to tackle Mandii<br /> ***This&amp;nbsp;collision disabled the opponent's weapon/only means of movement<br /> ***Opponent spewed smoke<br /> **[https://www.youtube.com/watch?v=g_Rbv6S2_18 Victory vs MPV]<br /> ***Opponent had no visible weapon/movement mechanism<br /> ***Opponent was obliterated on 2nd contact by Mandii<br /> ***Mandii sustained no visible damage<br /> **[https://www.youtube.com/watch?v=9ZJHFHIC3Mc Loss vs The Blender]<br /> ***Mandii attacked frequently, but was pushed aside by the opponent's shell<br /> ***Mandii is then viciously attacked by the enemy<br /> ***Eventually, Mandii is disabled due to the damage sustained<br /> <br /> === RoboGames 2012 ===<br /> *Results<br /> **[https://www.youtube.com/watch?v=TVaYqNl22xQ Loss vs&amp;nbsp;Wolverine]<br /> ***Constant to-and-fro hits<br /> ***Mandi was visibly&amp;nbsp;damaged, while the opponent was not<br /> ***Loss due to judge's decision<br /> <br /> = Versions =<br /> <br /> == Mandi (V1.0) ==<br /> Undocumented<br /> <br /> == Mandii (V1.0) ==<br /> <br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;______&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | Victor 885<br /> |-<br /> | Weapon Motor<br /> | AmpFlow A28-400<br /> |-<br /> | Weapon Motor Controllers<br /> | &lt;br/&gt;<br /> |-<br /> | Receiver<br /> | &lt;br/&gt;<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;&lt;br/&gt;<br /> |-<br /> | Battery<br /> | &lt;br/&gt;<br /> |-<br /> | (OTHER:)<br /> | (OTHER:)&lt;br/&gt;&lt;br/&gt;<br /> |}<br /> <br /> ==== Problems ====<br /> * Side Aluminum Armor Caved onto wheel from large hit. Prevented Drive<br /> * Live Weapon Shaft<br /> ** Deflected from hits<br /> * Needle bearings supporting drum axle shattered<br /> * Drum completely cracked through<br /> * Plastic Skids Ripped off in fight<br /> * Drum Teeth sheared off<br /> <br /> ==== Good aspects ====<br /> <br /> ==== Changes/Improvements ====<br /> <br /> == Mandiii (V3.0) ==<br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;Chelsea Silberglied, Trenton Charlson, Dustin Sloan&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> |[http://www.castlecreations.com/en/1-5th-scale-vehicles/2028-extreme-800kv-motor-060-0054-00 Castle Creations 2028 Extreme]<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> <br /> ==== Problems ====<br /> * Low Clearance 0.5&quot;. Armor same height off ground as arena lip, got stuck on edge.<br /> * Small Wheels (5&quot;), Need to be large<br /> * Difficult to service, required complete disassembly to replace belts and drum bearings.<br /> * Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.<br /> * Transmitter broke during competition. Used Hobbyking $20 Transmitter.<br /> * 3D Printed Electronics Mount Broke<br /> * Need Fastblow Fuse &lt;300A<br /> * Front Plate Fracture at screw interface with side plates, due to &lt;0.125&quot; material at bolt hole<br /> * Weapon Bearings not checked after each match<br /> ** One shattered during first match, still spun but quickly seized<br /> * Drum bolt circle was not machined properly, drums canted.<br /> * Large flat area on rear armor, got caught on arena edge<br /> * Underweight (113 lbs)<br /> <br /> ==== Good aspects ====<br /> * Reliable Drum<br /> ** Spun up fast, &lt;4 seconds<br /> ** Drum in 2 pieces, 10 0.3125&quot; Alloy Steel dowel pins<br /> ** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle<br /> ** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance<br /> ** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture<br /> ** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck<br /> * Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push &gt; 130lb person on tile floor.<br /> * All wheel drive, 4 Wheels<br /> * Stable Drive Control, robot went straight and could turn appropriately<br /> * Good Speed: 13.6 mph, 912RPM 5&quot; Wheel<br /> * Zip Tied and Electrical Taped all electronic connectors<br /> * Armor absorbed hits well<br /> ** Almost no significant damage to main frame<br /> ** Aluminum dented and sheared<br /> ** HPDE plastically deformed<br /> ** Multiple replaceable sets (2.5 Sets)<br /> ** Sheet Metal Screws, self tapping into plastic<br /> * Tolerances<br /> ** Parts fit together well. Waterjetted jigsaw fits had 0.008&quot; under sizing to interface smoothly <br /> ** Dial Indicated large parts on mill<br /> ** Custom Grooving Tool for pulley V-belt groove<br /> * Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)<br /> * External chain on drive easily serviceable<br /> * Electronics properly spec'd. Did not burn an ESC<br /> * Tapered roller bearing worked well<br /> <br /> ==== Changes/Improvements ====<br /> * Larger wheels for ground clearance, 6&quot; instead of 5&quot;<br /> ** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels<br /> ** Make hub go all the way through wheel (not 2 separate inserts)<br /> * Properly machined drum so that dowel circles line up<br /> * Larger Drum to utilize extra weight<br /> * Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts<br /> ** Smaller weapon pulley required to accommodate hole<br /> * Steel Pulley, not Aluminum<br /> * No vertical holes in front plate<br /> * Larger skids for larger wheels/drum<br /> * Extra 2 Skids further back on side plates, redundancy in case front skids shear<br /> * Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate<br /> ** Insert attached to side plate to hold in place<br /> ** Pocket armor to compensate for space<br /> * Smaller Rear Armor<br /> ** Make same profile as side armor<br /> * More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450]) <br /> ** More Torque, faster spinup and smaller weapon pulley needed due to less gearing<br /> * Brighter LEDs on top plate<br /> <br /> == See also ==<br /> <br /> == Notes: ==<br /> <br /> Successor to [[Soafi|Soafi]]&amp;nbsp;<br /> <br /> &lt;span style=&quot;line-height: 20.7999992370605px&quot;&gt;Built by _____&lt;/span&gt;<br /> [[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:MiddleWeights]]</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Mandi&diff=16231 2018-05-24T00:01:58Z

<p>Ncastro9: Undo revision 16230 by Ncastro9 (talk)</p> <hr /> <div>{| class=&quot;wikitable&quot; align=&quot;right&quot;<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Mandiii<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; |[[File:MandiiiV3.jpg|right|frameless|480x480px|DrumRoll, please]]<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Year Of Creation<br /> | {{{year|2010-2011}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Versions<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Current Version<br /> | {{{currver|3.5}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Update Year<br /> | {{{updyr|2012-2013, 2014-2015, 2016-2017, 2017-2018}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Information and Statistics<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weight Class<br /> | {{{wc|MiddleWeight}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weapon Class<br /> | {{{weapc|Drum Spinner}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Wins/Losses/Byes<br /> | {{{winloss|12/10/2}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|{&quot;Temporary&quot;)}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|(&quot;Temporary&quot;)}}}<br /> |}<br /> <br /> = Competitions =<br /> <br /> === [[RoboGames 2018|RoboGames 2018]] ===<br /> *Results<br /> <br /> <br /> === [https://wiki.robojackets.org/w/RoboGames_2017 RoboGames 2017] ===<br /> * Results<br /> ** [https://www.youtube.com/watch?v=JUffCGoJ4kk Loss vs. Cat Kong]<br /> ** [https://www.youtube.com/watch?v=BAYflYm80sQ Win vs. Houston]<br /> ** [https://www.youtube.com/watch?v=yPc6X6ShpKE Loss vs. Nighthawk]<br /> <br /> === [[RoboGames 2015|RoboGames 2015]] ===<br /> *Results:<br /> **[https://www.youtube.com/watch?v=WX6HXlt14z4 Victory vs Heavy Metal]<br /> **[https://www.youtube.com/watch?v=GLLhz1FLHmQ Loss vs Touro Classic]<br /> <br /> === RoboGames 2013 ===<br /> <br /> *Results<br /> **[https://www.youtube.com/watch?v=aMW-srAq4i0 Victory vs Witch Doctor]<br /> ***Mandii was initially knocked around and flipped over by the opponent<br /> ***Opponent hits Mandii's weapon,&amp;nbsp;flipped itself over as a result, and tried to tackle Mandii<br /> ***This&amp;nbsp;collision disabled the opponent's weapon/only means of movement<br /> ***Opponent spewed smoke<br /> **[https://www.youtube.com/watch?v=g_Rbv6S2_18 Victory vs MPV]<br /> ***Opponent had no visible weapon/movement mechanism<br /> ***Opponent was obliterated on 2nd contact by Mandii<br /> ***Mandii sustained no visible damage<br /> **[https://www.youtube.com/watch?v=9ZJHFHIC3Mc Loss vs The Blender]<br /> ***Mandii attacked frequently, but was pushed aside by the opponent's shell<br /> ***Mandii is then viciously attacked by the enemy<br /> ***Eventually, Mandii is disabled due to the damage sustained<br /> <br /> === RoboGames 2012 ===<br /> *Results<br /> **[https://www.youtube.com/watch?v=TVaYqNl22xQ Loss vs&amp;nbsp;Wolverine]<br /> ***Constant to-and-fro hits<br /> ***Mandi was visibly&amp;nbsp;damaged, while the opponent was not<br /> ***Loss due to judge's decision<br /> <br /> = Versions =<br /> <br /> == Mandi (V1.0) ==<br /> Undocumented<br /> <br /> == Mandii (V1.0) ==<br /> <br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;______&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | Victor 885<br /> |-<br /> | Weapon Motor<br /> | AmpFlow A28-400<br /> |-<br /> | Weapon Motor Controllers<br /> | &lt;br/&gt;<br /> |-<br /> | Receiver<br /> | &lt;br/&gt;<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;&lt;br/&gt;<br /> |-<br /> | Battery<br /> | &lt;br/&gt;<br /> |-<br /> | (OTHER:)<br /> | (OTHER:)&lt;br/&gt;&lt;br/&gt;<br /> |}<br /> <br /> ==== Problems ====<br /> * Side Aluminum Armor Caved onto wheel from large hit. Prevented Drive<br /> * Live Weapon Shaft<br /> ** Deflected from hits<br /> * Needle bearings supporting drum axle shattered<br /> * Drum completely cracked through<br /> * Plastic Skids Ripped off in fight<br /> * Drum Teeth sheared off<br /> <br /> ==== Good aspects ====<br /> <br /> ==== Changes/Improvements ====<br /> <br /> == Mandiii (V3.0) ==<br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;Chelsea Silberglied, Trenton Charlson, Dustin Sloan&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> |[http://www.castlecreations.com/en/1-5th-scale-vehicles/2028-extreme-800kv-motor-060-0054-00 Castle Creations 2028 Extreme]<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> <br /> ==== Problems ====<br /> * Low Clearance 0.5&quot;. Armor same height off ground as arena lip, got stuck on edge.<br /> * Small Wheels (5&quot;), Need to be large<br /> * Difficult to service, required complete disassembly to replace belts and drum bearings.<br /> * Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.<br /> * Transmitter broke during competition. Used Hobbyking $20 Transmitter.<br /> * 3D Printed Electronics Mount Broke<br /> * Need Fastblow Fuse &lt;300A<br /> * Front Plate Fracture at screw interface with side plates, due to &lt;0.125&quot; material at bolt hole<br /> * Weapon Bearings not checked after each match<br /> ** One shattered during first match, still spun but quickly seized<br /> * Drum bolt circle was not machined properly, drums canted.<br /> * Large flat area on rear armor, got caught on arena edge<br /> * Underweight (113 lbs)<br /> <br /> ==== Good aspects ====<br /> * Reliable Drum<br /> ** Spun up fast, &lt;4 seconds<br /> ** Drum in 2 pieces, 10 0.3125&quot; Alloy Steel dowel pins<br /> ** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle<br /> ** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance<br /> ** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture<br /> ** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck<br /> * Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push &gt; 130lb person on tile floor.<br /> * All wheel drive, 4 Wheels<br /> * Stable Drive Control, robot went straight and could turn appropriately<br /> * Good Speed: 13.6 mph, 912RPM 5&quot; Wheel<br /> * Zip Tied and Electrical Taped all electronic connectors<br /> * Armor absorbed hits well<br /> ** Almost no significant damage to main frame<br /> ** Aluminum dented and sheared<br /> ** HPDE plastically deformed<br /> ** Multiple replaceable sets (2.5 Sets)<br /> ** Sheet Metal Screws, self tapping into plastic<br /> * Tolerances<br /> ** Parts fit together well. Waterjetted jigsaw fits had 0.008&quot; under sizing to interface smoothly <br /> ** Dial Indicated large parts on mill<br /> ** Custom Grooving Tool for pulley V-belt groove<br /> * Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)<br /> * External chain on drive easily serviceable<br /> * Electronics properly spec'd. Did not burn an ESC<br /> * Tapered roller bearing worked well<br /> <br /> ==== Changes/Improvements ====<br /> * Larger wheels for ground clearance, 6&quot; instead of 5&quot;<br /> ** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels<br /> ** Make hub go all the way through wheel (not 2 separate inserts)<br /> * Properly machined drum so that dowel circles line up<br /> * Larger Drum to utilize extra weight<br /> * Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts<br /> ** Smaller weapon pulley required to accommodate hole<br /> * Steel Pulley, not Aluminum<br /> * No vertical holes in front plate<br /> * Larger skids for larger wheels/drum<br /> * Extra 2 Skids further back on side plates, redundancy in case front skids shear<br /> * Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate<br /> ** Insert attached to side plate to hold in place<br /> ** Pocket armor to compensate for space<br /> * Smaller Rear Armor<br /> ** Make same profile as side armor<br /> * More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450]) <br /> ** More Torque, faster spinup and smaller weapon pulley needed due to less gearing<br /> * Brighter LEDs on top plate<br /> <br /> == See also ==<br /> <br /> == Notes: ==<br /> <br /> Successor to [[Soafi|Soafi]]&amp;nbsp;<br /> <br /> &lt;span style=&quot;line-height: 20.7999992370605px&quot;&gt;Built by _____&lt;/span&gt;<br /> [[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:MiddleWeights]]</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Mandi&diff=16230 2018-05-24T00:01:04Z

<p>Ncastro9: </p> <hr /> <div>{| class=&quot;wikitable&quot; align=&quot;right&quot;<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Mandiii<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; |[[File:MandiiiV3.jpg|right|frameless|480x480px|DrumRoll, please]]<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Year Of Creation<br /> | {{{year|2010-2011}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Versions<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Current Version<br /> | {{{currver|3.5}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Update Year<br /> | {{{updyr|2012-2013, 2014-2015, 2016-2017, 2017-2018}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Information and Statistics<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weight Class<br /> | {{{wc|MiddleWeight}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weapon Class<br /> | {{{weapc|Drum Spinner}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Wins/Losses/Byes<br /> | {{{winloss|12/10/2}}}<br /> |-<br /> <br /> <br /> = Competitions =<br /> <br /> === [[RoboGames 2018|RoboGames 2018]] ===<br /> *Results<br /> <br /> <br /> === [https://wiki.robojackets.org/w/RoboGames_2017 RoboGames 2017] ===<br /> * Results<br /> ** [https://www.youtube.com/watch?v=JUffCGoJ4kk Loss vs. Cat Kong]<br /> ** [https://www.youtube.com/watch?v=BAYflYm80sQ Win vs. Houston]<br /> ** [https://www.youtube.com/watch?v=yPc6X6ShpKE Loss vs. Nighthawk]<br /> <br /> === [[RoboGames 2015|RoboGames 2015]] ===<br /> *Results:<br /> **[https://www.youtube.com/watch?v=WX6HXlt14z4 Victory vs Heavy Metal]<br /> **[https://www.youtube.com/watch?v=GLLhz1FLHmQ Loss vs Touro Classic]<br /> <br /> === RoboGames 2013 ===<br /> <br /> *Results<br /> **[https://www.youtube.com/watch?v=aMW-srAq4i0 Victory vs Witch Doctor]<br /> ***Mandii was initially knocked around and flipped over by the opponent<br /> ***Opponent hits Mandii's weapon,&amp;nbsp;flipped itself over as a result, and tried to tackle Mandii<br /> ***This&amp;nbsp;collision disabled the opponent's weapon/only means of movement<br /> ***Opponent spewed smoke<br /> **[https://www.youtube.com/watch?v=g_Rbv6S2_18 Victory vs MPV]<br /> ***Opponent had no visible weapon/movement mechanism<br /> ***Opponent was obliterated on 2nd contact by Mandii<br /> ***Mandii sustained no visible damage<br /> **[https://www.youtube.com/watch?v=9ZJHFHIC3Mc Loss vs The Blender]<br /> ***Mandii attacked frequently, but was pushed aside by the opponent's shell<br /> ***Mandii is then viciously attacked by the enemy<br /> ***Eventually, Mandii is disabled due to the damage sustained<br /> <br /> === RoboGames 2012 ===<br /> *Results<br /> **[https://www.youtube.com/watch?v=TVaYqNl22xQ Loss vs&amp;nbsp;Wolverine]<br /> ***Constant to-and-fro hits<br /> ***Mandi was visibly&amp;nbsp;damaged, while the opponent was not<br /> ***Loss due to judge's decision<br /> <br /> = Versions =<br /> <br /> == Mandi (V1.0) ==<br /> Undocumented<br /> <br /> == Mandii (V1.0) ==<br /> <br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;______&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | Victor 885<br /> |-<br /> | Weapon Motor<br /> | AmpFlow A28-400<br /> |-<br /> | Weapon Motor Controllers<br /> | &lt;br/&gt;<br /> |-<br /> | Receiver<br /> | &lt;br/&gt;<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;&lt;br/&gt;<br /> |-<br /> | Battery<br /> | &lt;br/&gt;<br /> |-<br /> | (OTHER:)<br /> | (OTHER:)&lt;br/&gt;&lt;br/&gt;<br /> |}<br /> <br /> ==== Problems ====<br /> * Side Aluminum Armor Caved onto wheel from large hit. Prevented Drive<br /> * Live Weapon Shaft<br /> ** Deflected from hits<br /> * Needle bearings supporting drum axle shattered<br /> * Drum completely cracked through<br /> * Plastic Skids Ripped off in fight<br /> * Drum Teeth sheared off<br /> <br /> ==== Good aspects ====<br /> <br /> ==== Changes/Improvements ====<br /> <br /> == Mandiii (V3.0) ==<br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;Chelsea Silberglied, Trenton Charlson, Dustin Sloan&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> |[http://www.castlecreations.com/en/1-5th-scale-vehicles/2028-extreme-800kv-motor-060-0054-00 Castle Creations 2028 Extreme]<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> <br /> ==== Problems ====<br /> * Low Clearance 0.5&quot;. Armor same height off ground as arena lip, got stuck on edge.<br /> * Small Wheels (5&quot;), Need to be large<br /> * Difficult to service, required complete disassembly to replace belts and drum bearings.<br /> * Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.<br /> * Transmitter broke during competition. Used Hobbyking $20 Transmitter.<br /> * 3D Printed Electronics Mount Broke<br /> * Need Fastblow Fuse &lt;300A<br /> * Front Plate Fracture at screw interface with side plates, due to &lt;0.125&quot; material at bolt hole<br /> * Weapon Bearings not checked after each match<br /> ** One shattered during first match, still spun but quickly seized<br /> * Drum bolt circle was not machined properly, drums canted.<br /> * Large flat area on rear armor, got caught on arena edge<br /> * Underweight (113 lbs)<br /> <br /> ==== Good aspects ====<br /> * Reliable Drum<br /> ** Spun up fast, &lt;4 seconds<br /> ** Drum in 2 pieces, 10 0.3125&quot; Alloy Steel dowel pins<br /> ** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle<br /> ** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance<br /> ** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture<br /> ** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck<br /> * Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push &gt; 130lb person on tile floor.<br /> * All wheel drive, 4 Wheels<br /> * Stable Drive Control, robot went straight and could turn appropriately<br /> * Good Speed: 13.6 mph, 912RPM 5&quot; Wheel<br /> * Zip Tied and Electrical Taped all electronic connectors<br /> * Armor absorbed hits well<br /> ** Almost no significant damage to main frame<br /> ** Aluminum dented and sheared<br /> ** HPDE plastically deformed<br /> ** Multiple replaceable sets (2.5 Sets)<br /> ** Sheet Metal Screws, self tapping into plastic<br /> * Tolerances<br /> ** Parts fit together well. Waterjetted jigsaw fits had 0.008&quot; under sizing to interface smoothly <br /> ** Dial Indicated large parts on mill<br /> ** Custom Grooving Tool for pulley V-belt groove<br /> * Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)<br /> * External chain on drive easily serviceable<br /> * Electronics properly spec'd. Did not burn an ESC<br /> * Tapered roller bearing worked well<br /> <br /> ==== Changes/Improvements ====<br /> * Larger wheels for ground clearance, 6&quot; instead of 5&quot;<br /> ** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels<br /> ** Make hub go all the way through wheel (not 2 separate inserts)<br /> * Properly machined drum so that dowel circles line up<br /> * Larger Drum to utilize extra weight<br /> * Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts<br /> ** Smaller weapon pulley required to accommodate hole<br /> * Steel Pulley, not Aluminum<br /> * No vertical holes in front plate<br /> * Larger skids for larger wheels/drum<br /> * Extra 2 Skids further back on side plates, redundancy in case front skids shear<br /> * Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate<br /> ** Insert attached to side plate to hold in place<br /> ** Pocket armor to compensate for space<br /> * Smaller Rear Armor<br /> ** Make same profile as side armor<br /> * More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450]) <br /> ** More Torque, faster spinup and smaller weapon pulley needed due to less gearing<br /> * Brighter LEDs on top plate<br /> <br /> == See also ==<br /> <br /> == Notes: ==<br /> <br /> Successor to [[Soafi|Soafi]]&amp;nbsp;<br /> <br /> &lt;span style=&quot;line-height: 20.7999992370605px&quot;&gt;Built by _____&lt;/span&gt;<br /> [[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:MiddleWeights]]</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Mandi&diff=16229 2018-05-24T00:00:44Z

<p>Ncastro9: </p> <hr /> <div>{| class=&quot;wikitable&quot; align=&quot;right&quot;<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Mandiii<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; |[[File:MandiiiV3.jpg|right|frameless|480x480px|DrumRoll, please]]<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Year Of Creation<br /> | {{{year|2010-2011}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Versions<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Current Version<br /> | {{{currver|3.5}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Update Year<br /> | {{{updyr|2012-2013, 2014-2015, 2016-2017, 2017-2018}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Information and Statistics<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weight Class<br /> | {{{wc|MiddleWeight}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weapon Class<br /> | {{{weapc|Drum Spinner}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Wins/Losses/Byes<br /> | {{{winloss|12/10/2}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|{&quot;Temporary&quot;)}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|(&quot;Temporary&quot;)}}}<br /> |}<br /> <br /> = Competitions =<br /> <br /> === [[RoboGames 2018|RoboGames 2018]] ===<br /> *Results<br /> <br /> <br /> === [https://wiki.robojackets.org/w/RoboGames_2017 RoboGames 2017] ===<br /> * Results<br /> ** [https://www.youtube.com/watch?v=JUffCGoJ4kk Loss vs. Cat Kong]<br /> ** [https://www.youtube.com/watch?v=BAYflYm80sQ Win vs. Houston]<br /> ** [https://www.youtube.com/watch?v=yPc6X6ShpKE Loss vs. Nighthawk]<br /> <br /> === [[RoboGames 2015|RoboGames 2015]] ===<br /> *Results:<br /> **[https://www.youtube.com/watch?v=WX6HXlt14z4 Victory vs Heavy Metal]<br /> **[https://www.youtube.com/watch?v=GLLhz1FLHmQ Loss vs Touro Classic]<br /> <br /> === RoboGames 2013 ===<br /> <br /> *Results<br /> **[https://www.youtube.com/watch?v=aMW-srAq4i0 Victory vs Witch Doctor]<br /> ***Mandii was initially knocked around and flipped over by the opponent<br /> ***Opponent hits Mandii's weapon,&amp;nbsp;flipped itself over as a result, and tried to tackle Mandii<br /> ***This&amp;nbsp;collision disabled the opponent's weapon/only means of movement<br /> ***Opponent spewed smoke<br /> **[https://www.youtube.com/watch?v=g_Rbv6S2_18 Victory vs MPV]<br /> ***Opponent had no visible weapon/movement mechanism<br /> ***Opponent was obliterated on 2nd contact by Mandii<br /> ***Mandii sustained no visible damage<br /> **[https://www.youtube.com/watch?v=9ZJHFHIC3Mc Loss vs The Blender]<br /> ***Mandii attacked frequently, but was pushed aside by the opponent's shell<br /> ***Mandii is then viciously attacked by the enemy<br /> ***Eventually, Mandii is disabled due to the damage sustained<br /> <br /> === RoboGames 2012 ===<br /> *Results<br /> **[https://www.youtube.com/watch?v=TVaYqNl22xQ Loss vs&amp;nbsp;Wolverine]<br /> ***Constant to-and-fro hits<br /> ***Mandi was visibly&amp;nbsp;damaged, while the opponent was not<br /> ***Loss due to judge's decision<br /> <br /> = Versions =<br /> <br /> == Mandi (V1.0) ==<br /> Undocumented<br /> <br /> == Mandii (V1.0) ==<br /> <br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;______&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | Victor 885<br /> |-<br /> | Weapon Motor<br /> | AmpFlow A28-400<br /> |-<br /> | Weapon Motor Controllers<br /> | &lt;br/&gt;<br /> |-<br /> | Receiver<br /> | &lt;br/&gt;<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;&lt;br/&gt;<br /> |-<br /> | Battery<br /> | &lt;br/&gt;<br /> |-<br /> | (OTHER:)<br /> | (OTHER:)&lt;br/&gt;&lt;br/&gt;<br /> |}<br /> <br /> ==== Problems ====<br /> * Side Aluminum Armor Caved onto wheel from large hit. Prevented Drive<br /> * Live Weapon Shaft<br /> ** Deflected from hits<br /> * Needle bearings supporting drum axle shattered<br /> * Drum completely cracked through<br /> * Plastic Skids Ripped off in fight<br /> * Drum Teeth sheared off<br /> <br /> ==== Good aspects ====<br /> <br /> ==== Changes/Improvements ====<br /> <br /> == Mandiii (V3.0) ==<br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;Chelsea Silberglied, Trenton Charlson, Dustin Sloan&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> |[http://www.castlecreations.com/en/1-5th-scale-vehicles/2028-extreme-800kv-motor-060-0054-00 Castle Creations 2028 Extreme]<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> <br /> ==== Problems ====<br /> * Low Clearance 0.5&quot;. Armor same height off ground as arena lip, got stuck on edge.<br /> * Small Wheels (5&quot;), Need to be large<br /> * Difficult to service, required complete disassembly to replace belts and drum bearings.<br /> * Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.<br /> * Transmitter broke during competition. Used Hobbyking $20 Transmitter.<br /> * 3D Printed Electronics Mount Broke<br /> * Need Fastblow Fuse &lt;300A<br /> * Front Plate Fracture at screw interface with side plates, due to &lt;0.125&quot; material at bolt hole<br /> * Weapon Bearings not checked after each match<br /> ** One shattered during first match, still spun but quickly seized<br /> * Drum bolt circle was not machined properly, drums canted.<br /> * Large flat area on rear armor, got caught on arena edge<br /> * Underweight (113 lbs)<br /> <br /> ==== Good aspects ====<br /> * Reliable Drum<br /> ** Spun up fast, &lt;4 seconds<br /> ** Drum in 2 pieces, 10 0.3125&quot; Alloy Steel dowel pins<br /> ** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle<br /> ** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance<br /> ** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture<br /> ** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck<br /> * Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push &gt; 130lb person on tile floor.<br /> * All wheel drive, 4 Wheels<br /> * Stable Drive Control, robot went straight and could turn appropriately<br /> * Good Speed: 13.6 mph, 912RPM 5&quot; Wheel<br /> * Zip Tied and Electrical Taped all electronic connectors<br /> * Armor absorbed hits well<br /> ** Almost no significant damage to main frame<br /> ** Aluminum dented and sheared<br /> ** HPDE plastically deformed<br /> ** Multiple replaceable sets (2.5 Sets)<br /> ** Sheet Metal Screws, self tapping into plastic<br /> * Tolerances<br /> ** Parts fit together well. Waterjetted jigsaw fits had 0.008&quot; under sizing to interface smoothly <br /> ** Dial Indicated large parts on mill<br /> ** Custom Grooving Tool for pulley V-belt groove<br /> * Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)<br /> * External chain on drive easily serviceable<br /> * Electronics properly spec'd. Did not burn an ESC<br /> * Tapered roller bearing worked well<br /> <br /> ==== Changes/Improvements ====<br /> * Larger wheels for ground clearance, 6&quot; instead of 5&quot;<br /> ** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels<br /> ** Make hub go all the way through wheel (not 2 separate inserts)<br /> * Properly machined drum so that dowel circles line up<br /> * Larger Drum to utilize extra weight<br /> * Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts<br /> ** Smaller weapon pulley required to accommodate hole<br /> * Steel Pulley, not Aluminum<br /> * No vertical holes in front plate<br /> * Larger skids for larger wheels/drum<br /> * Extra 2 Skids further back on side plates, redundancy in case front skids shear<br /> * Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate<br /> ** Insert attached to side plate to hold in place<br /> ** Pocket armor to compensate for space<br /> * Smaller Rear Armor<br /> ** Make same profile as side armor<br /> * More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450]) <br /> ** More Torque, faster spinup and smaller weapon pulley needed due to less gearing<br /> * Brighter LEDs on top plate<br /> <br /> == See also ==<br /> <br /> == Notes: ==<br /> <br /> Successor to [[Soafi|Soafi]]&amp;nbsp;<br /> <br /> &lt;span style=&quot;line-height: 20.7999992370605px&quot;&gt;Built by _____&lt;/span&gt;<br /> [[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:MiddleWeights]]</div>

Ncastro9 https://wiki.robojackets.org/index.php?title=Mandi&diff=16228 2018-05-23T23:51:34Z

<p>Ncastro9: </p> <hr /> <div>{| class=&quot;wikitable&quot; align=&quot;right&quot;<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Mandiii<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; |[[File:MandiiiV3.jpg|right|frameless|480x480px|DrumRoll, please]]<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Year Of Creation<br /> | {{{year|2010-2011}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Versions<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Current Version<br /> | {{{currver|2.0}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Update Year<br /> | {{{updyr|2012-2013}}}<br /> |-<br /> ! scope=&quot;row&quot; colspan=&quot;2&quot; style=&quot;background-color:#FFFF99&quot; | Information and Statistics<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weight Class<br /> | {{{wc|MiddleWeight}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Weapon Class<br /> | {{{weapc|Drum Spinner}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | Wins/Losses<br /> | {{{winloss|3/4}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|{&quot;Temporary&quot;)}}}<br /> |-<br /> ! scope=&quot;row&quot; style=&quot;text-align:left&quot; | (&quot;Temporary&quot;)<br /> | {{{TBA|(&quot;Temporary&quot;)}}}<br /> |}<br /> <br /> = Competitions =<br /> <br /> === [[RoboGames 2018|RoboGames 2018]] ===<br /> *Results<br /> <br /> <br /> === [https://wiki.robojackets.org/w/RoboGames_2017 RoboGames 2017] ===<br /> * Results<br /> ** [https://www.youtube.com/watch?v=JUffCGoJ4kk Loss vs. Cat Kong]<br /> ** [https://www.youtube.com/watch?v=BAYflYm80sQ Win vs. Houston]<br /> ** [https://www.youtube.com/watch?v=yPc6X6ShpKE Loss vs. Nighthawk]<br /> <br /> === [[RoboGames 2015|RoboGames 2015]] ===<br /> *Results:<br /> **[https://www.youtube.com/watch?v=WX6HXlt14z4 Victory vs Heavy Metal]<br /> **[https://www.youtube.com/watch?v=GLLhz1FLHmQ Loss vs Touro Classic]<br /> <br /> === RoboGames 2013 ===<br /> <br /> *Results<br /> **[https://www.youtube.com/watch?v=aMW-srAq4i0 Victory vs Witch Doctor]<br /> ***Mandii was initially knocked around and flipped over by the opponent<br /> ***Opponent hits Mandii's weapon,&amp;nbsp;flipped itself over as a result, and tried to tackle Mandii<br /> ***This&amp;nbsp;collision disabled the opponent's weapon/only means of movement<br /> ***Opponent spewed smoke<br /> **[https://www.youtube.com/watch?v=g_Rbv6S2_18 Victory vs MPV]<br /> ***Opponent had no visible weapon/movement mechanism<br /> ***Opponent was obliterated on 2nd contact by Mandii<br /> ***Mandii sustained no visible damage<br /> **[https://www.youtube.com/watch?v=9ZJHFHIC3Mc Loss vs The Blender]<br /> ***Mandii attacked frequently, but was pushed aside by the opponent's shell<br /> ***Mandii is then viciously attacked by the enemy<br /> ***Eventually, Mandii is disabled due to the damage sustained<br /> <br /> === RoboGames 2012 ===<br /> *Results<br /> **[https://www.youtube.com/watch?v=TVaYqNl22xQ Loss vs&amp;nbsp;Wolverine]<br /> ***Constant to-and-fro hits<br /> ***Mandi was visibly&amp;nbsp;damaged, while the opponent was not<br /> ***Loss due to judge's decision<br /> <br /> = Versions =<br /> <br /> == Mandi (V1.0) ==<br /> Undocumented<br /> <br /> == Mandii (V1.0) ==<br /> <br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;______&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | Victor 885<br /> |-<br /> | Weapon Motor<br /> | AmpFlow A28-400<br /> |-<br /> | Weapon Motor Controllers<br /> | &lt;br/&gt;<br /> |-<br /> | Receiver<br /> | &lt;br/&gt;<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;&lt;br/&gt;<br /> |-<br /> | Battery<br /> | &lt;br/&gt;<br /> |-<br /> | (OTHER:)<br /> | (OTHER:)&lt;br/&gt;&lt;br/&gt;<br /> |}<br /> <br /> ==== Problems ====<br /> * Side Aluminum Armor Caved onto wheel from large hit. Prevented Drive<br /> * Live Weapon Shaft<br /> ** Deflected from hits<br /> * Needle bearings supporting drum axle shattered<br /> * Drum completely cracked through<br /> * Plastic Skids Ripped off in fight<br /> * Drum Teeth sheared off<br /> <br /> ==== Good aspects ====<br /> <br /> ==== Changes/Improvements ====<br /> <br /> == Mandiii (V3.0) ==<br /> Created by:&amp;nbsp;&lt;span style=&quot;color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;&quot;&gt;Chelsea Silberglied, Trenton Charlson, Dustin Sloan&lt;/span&gt;<br /> <br /> {| border=&quot;1&quot; cellspacing=&quot;1&quot; cellpadding=&quot;1&quot; style=&quot;line-height: 20.7999992370605px; width: 500px;&quot;<br /> |-<br /> | Drive Motors<br /> | AmpFlow A28-150<br /> |-<br /> | Drive Motor Controllers<br /> | [http://www.robotpower.com/products/vyper_info.html Vyper]<br /> |-<br /> | Weapon Motor<br /> |[http://www.castlecreations.com/en/1-5th-scale-vehicles/2028-extreme-800kv-motor-060-0054-00 Castle Creations 2028 Extreme]<br /> |-<br /> | Weapon Motor Controllers<br /> | [https://hobbyking.com/en_us/turnigy-monster-2000-200a-4-12s-brushless-esc.html Turnigy Monster 2000]<br /> |-<br /> | Receiver<br /> | Hobbyking V2<br /> |-<br /> | Remote Control<br /> | &lt;span style=&quot;font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px; background-color: rgb(255, 255, 255);&quot;&gt;Hobby King 2.4Ghz 6Ch Tx and Rx V2&lt;/span&gt;<br /> |-<br /> | Battery<br /> | [https://hobbyking.com/en_us/zippy-compact-5000mah-6s-25c-lipo-pack.html Zippy Compact 5000mAh 6S]<br /> 2 in series for weapon<br /> <br /> 1 for drive<br /> |-<br /> | Armor<br /> | 2&quot;x4&quot; HDPE Bar Stock&lt;br /&gt;3/16&quot; 6061 AL Plate<br /> |}<br /> <br /> ==== Problems ====<br /> * Low Clearance 0.5&quot;. Armor same height off ground as arena lip, got stuck on edge.<br /> * Small Wheels (5&quot;), Need to be large<br /> * Difficult to service, required complete disassembly to replace belts and drum bearings.<br /> * Weapon Pulley too large, belts vulnerable to hits. Also made of aluminum and easily damaged.<br /> * Transmitter broke during competition. Used Hobbyking $20 Transmitter.<br /> * 3D Printed Electronics Mount Broke<br /> * Need Fastblow Fuse &lt;300A<br /> * Front Plate Fracture at screw interface with side plates, due to &lt;0.125&quot; material at bolt hole<br /> * Weapon Bearings not checked after each match<br /> ** One shattered during first match, still spun but quickly seized<br /> * Drum bolt circle was not machined properly, drums canted.<br /> * Large flat area on rear armor, got caught on arena edge<br /> * Underweight (113 lbs)<br /> <br /> ==== Good aspects ====<br /> * Reliable Drum<br /> ** Spun up fast, &lt;4 seconds<br /> ** Drum in 2 pieces, 10 0.3125&quot; Alloy Steel dowel pins<br /> ** 4 Large Tapered Roller Bearings, 2 outside and 2 in the middle<br /> ** Wire EDM Single Tooth (Montgomery Machining Mall), easy to hold tolerance<br /> ** Hardness 53.5 HB, Heat Treated at Braddock Metallurgical Inc. for free. Did not fracture<br /> ** Drum had dowel pin circle on both sides, could be reversed when pins broke inside and were stuck<br /> * Powerful Drivetrain: 150lb-in Gearbox Output Torque, Could push &gt; 130lb person on tile floor.<br /> * All wheel drive, 4 Wheels<br /> * Stable Drive Control, robot went straight and could turn appropriately<br /> * Good Speed: 13.6 mph, 912RPM 5&quot; Wheel<br /> * Zip Tied and Electrical Taped all electronic connectors<br /> * Armor absorbed hits well<br /> ** Almost no significant damage to main frame<br /> ** Aluminum dented and sheared<br /> ** HPDE plastically deformed<br /> ** Multiple replaceable sets (2.5 Sets)<br /> ** Sheet Metal Screws, self tapping into plastic<br /> * Tolerances<br /> ** Parts fit together well. Waterjetted jigsaw fits had 0.008&quot; under sizing to interface smoothly <br /> ** Dial Indicated large parts on mill<br /> ** Custom Grooving Tool for pulley V-belt groove<br /> * Used Jigs to drill holes on side plates lengthwise (Holes could not be done on mill because the part is too long)<br /> * External chain on drive easily serviceable<br /> * Electronics properly spec'd. Did not burn an ESC<br /> * Tapered roller bearing worked well<br /> <br /> ==== Changes/Improvements ====<br /> * Larger wheels for ground clearance, 6&quot; instead of 5&quot;<br /> ** Pockets and Slots in front plate, back plate, and side spacer to accommodate wheels<br /> ** Make hub go all the way through wheel (not 2 separate inserts)<br /> * Properly machined drum so that dowel circles line up<br /> * Larger Drum to utilize extra weight<br /> * Hole instead of H slot for belt servicing so that entire bot does not need disassembly to replace belts<br /> ** Smaller weapon pulley required to accommodate hole<br /> * Steel Pulley, not Aluminum<br /> * No vertical holes in front plate<br /> * Larger skids for larger wheels/drum<br /> * Extra 2 Skids further back on side plates, redundancy in case front skids shear<br /> * Hole in sideplate so that weapon shaft and drum can be removed without removing entire side plate<br /> ** Insert attached to side plate to hold in place<br /> ** Pocket armor to compensate for space<br /> * Smaller Rear Armor<br /> ** Make same profile as side armor<br /> * More Powerful Weapon Motor ([http://www.scorpionsystem.com/catalog/helicopter/motors_4/hk-45_1/HK_4530_450/ Scorpion HK 4530 450]) <br /> ** More Torque, faster spinup and smaller weapon pulley needed due to less gearing<br /> * Brighter LEDs on top plate<br /> <br /> == See also ==<br /> <br /> == Notes: ==<br /> <br /> Successor to [[Soafi|Soafi]]&amp;nbsp;<br /> <br /> &lt;span style=&quot;line-height: 20.7999992370605px&quot;&gt;Built by _____&lt;/span&gt;<br /> [[Category:Pages with broken file links]] [[Category:BattleBots]] [[Category:MiddleWeights]]</div>

Ncastro9