Valkyri Design Guide - Revision history

Bnaing3 at 05:21, 9 April 2022

2022-04-09T05:21:42Z

Mbayyari3 at 23:22, 22 May 2020

2020-05-22T23:22:24Z

Mbayyari3 at 05:35, 18 May 2020

2020-05-18T05:35:09Z

Ntranakiev3 at 19:49, 17 May 2020

2020-05-17T19:49:36Z

Ntranakiev3 at 14:57, 9 May 2020

2020-05-09T14:57:54Z

Ntranakiev3 at 14:53, 9 May 2020

2020-05-09T14:53:00Z

Ntranakiev3 at 16:52, 8 May 2020

2020-05-08T16:52:28Z

Ntranakiev3 at 16:49, 8 May 2020

2020-05-08T16:49:54Z

Ntranakiev3 at 16:47, 8 May 2020

2020-05-08T16:47:47Z

Ntranakiev3 at 16:47, 8 May 2020

2020-05-08T16:47:23Z

← Older revision		Revision as of 05:21, 9 April 2022
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	[[Category:BattleBots]]		[[Category:BattleBots]]
	[[Category: FeatherWeights]]		[[Category: FeatherWeights]]
		+	[[Category: BigBots]]

← Older revision		Revision as of 23:22, 22 May 2020
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	[[Category:BattleBots]]		[[Category:BattleBots]]
		+	[[Category: FeatherWeights]]

← Older revision		Revision as of 05:35, 18 May 2020
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	[[File:Valkyri_NoMag.png\|center\|thumb\|600px\|Valkyri Center of Gravity with No Magnets]]		[[File:Valkyri_NoMag.png\|center\|thumb\|600px\|Valkyri Center of Gravity with No Magnets]]
	[[File:Valkyri_Mag.png\|center\|thumb\|600px\|Valkyri Center of Gravity with Magnets]]		[[File:Valkyri_Mag.png\|center\|thumb\|600px\|Valkyri Center of Gravity with Magnets]]
		+
		+	[[Category:BattleBots]]

← Older revision		Revision as of 19:49, 17 May 2020
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	[[File:Valkyri_NoMag.png\|center\|thumb\|600px\|Valkyri Center of Gravity with No Magnets]]		[[File:Valkyri_NoMag.png\|center\|thumb\|600px\|Valkyri Center of Gravity with No Magnets]]
	[[File:Valkyri_Mag.png\|center\|thumb\|600px\|Valkyri Center of Gravity with Magnets]]		[[File:Valkyri_Mag.png\|center\|thumb\|600px\|Valkyri Center of Gravity with Magnets]]
−
−
−
−
−
−	~~----~~
−
−	~~=== Electronics ===~~
−
−	~~==== Overview ====~~
−	~~test~~
−
−	~~==== Drive ====~~
−	~~test~~
−
−	~~==== Weapon ====~~
−	~~test~~
−
−	~~----~~
−	~~;Notes/Helpful Advice~~
−	~~: test~~
−
−	~~----~~

@@ Line 68: / Line 68: @@
 ==== Overview ====
-test
+The drive of Valkyri was probably the most problematic part of the entire bot. Several iterations were attempted and it never achieved full operation
 ==== Design Decisions ====
-test
+Iteration 1: (Designed)
 ==== Calculations ====
@@ Line 78: / Line 106: @@
 ----
 ;Notes/Helpful Advice
-: test
+:Find an ESC with bidirectional or reversable mode. Most airplane and quadcopter ESCs have a throttle range between 0 to max in only one direction. In bidirectional, middle throttle is 0 and you can go into negative and positive max (meaning spin in both directions). Car ESCs are more likely to have this feature but you might get lucky with other ones too.
 ----
@@ Line 119: / Line 148: @@
 ;Notes/Helpful Advice
 : test
 ----

@@ Line 24: / Line 24: @@
 ==== Overview ====
-[[File:Valkyri_Chassis.png|right|thumb|600px|Valkyri Chassis]]
+[[File:Valkyri_Chassis.png|center|thumb|600px|Valkyri Chassis]]
 Valkyri’s chassi consisted of 8 components: top and bottom plates, right and left inner side plates, front and back plates and weapon mounting plates.
 ==== Design Decisions ====
 Front Plate (.375”): The front plate puzzle fit into the side, top and bottom plates. In order to move the weapon closer to the body and have the correct pulley ratio, it overlapped slightly with the front plate and required a large cutout. This made disassembly more difficult but did not cause issues during brief testing. The plate extended beyond the sides of the top and bottom plates and puzzle fit with the side armor. Two pockets were also added so that the wheels could be moved further forward and closer to the center of gravity without rubbing on the plate. Machining was mostly straight forward but the plate was too long to be able to machine the holes for the side armor on the mill so a custom jig was waterjet and the holes were hand drilled.
-[[File:Valkyri_FrontPlate.png|right|thumb|600px|Valkyri Front Plate]]
+[[File:Valkyri_FrontPlate.png|center|thumb|600px|Valkyri Front Plate]]
 Back Plate (.375”): The back plate was similar to the front plate but it lacked puzzle fits into the top and bottom plates and a hole for the pulley. It had additional tapped holes for attaching the back armor and on the inside for attaching the switch. It also required hand drilling for the side armor mounting holes similar to the front plate.
@@ Line 38: / Line 38: @@
 Top Plate (.0375”): The top plate was made of ⅜ aluminum since it was the upper attachment point of the weapon but the central part behind the front plate was milled to .125” to save weight and since it was assumed there would be no significant forces acting on the top of the robot. Most of the structural rigidity came from the front, back and side plates.
-[[File:Valkyri_TopPlate.png|right|thumb|600px|Valkyri Top Plate]]
+[[File:Valkyri_TopPlate.png|center|thumb|600px|Valkyri Top Plate]]
 Bottom Plate: (0.375”) The bottom plate was the heaviest part of the chassis. It was ⅜” over its entire area. It was also the attachment point closest to the weapon and therefore assumed to take the most force. There were 4 pockets in the back corners as seats for the magnets. Several of the screws on the bottom plate were countersunk so that they would not be hit by the weapon as it spun. Since the weapon motor needed to be moved to tighten the belt and therefore countersunk screws could not be used, a large slot pocket was created at the mounting slots to ensure they would not be struck by the weapon.
-[[File:Valkyri_BottomPlate.png|right|thumb|600px|Valkyri Bottom Plate]]
+[[File:Valkyri_BottomPlate.png|center|thumb|600px|Valkyri Bottom Plate]]
 Weapon mounting Plates (.625”): Originally the weapon bearings were meant to press fit into the bottom and top plates. However, tapered roller bearings for the 1” shaft were too thick and would have required at least a .625” thick bottom and top plate which would have weighed too much. Another option considered was using .625” bottom and top plates and then milling the back portion to .375 but that was deemed as too difficult of an operation with too much material being removed.
 	The weapon mounting plates fixed these problems by being a separate part in which the bearings fit which then puzzle fit into the bottom and front plates. The bearing was press fit into the plate and the plate was a relatively loose fit into the bottom plate so that it could be removed and disassembled.  The plate was in total .625” thick but .75” stock was used to allow for better work holding. The outline and center hole of the part was waterjet and the rest was completed on two operations with the HAAS. 7075 Aluminum was used since there was available stock and machining was not significantly more difficult since it was CNCed anyway.
-[[File:Valkyri_WeaponPlate1.png|right|thumb|600px|Valkyri Weapon Plate Top]]
+[[File:Valkyri_WeaponPlate1.png|center|thumb|600px|Valkyri Weapon Plate Top]]
-[[File:Valkyri_WeaponPlate2.png|right|thumb|600px|Valkyri Weapon Plate Bottom]]
+[[File:Valkyri_WeaponPlate2.png|center|thumb|600px|Valkyri Weapon Plate Bottom]]
 ----
@@ Line 60: / Line 60: @@
 Large ½-20 button screws were placed in the middle of the armor pieces (one on each side and one on the back). This was done in order to make the possibility of the bot landing on its side less likely although the effectiveness of this design choice was never tested.
-[[File:Valkyri_Armor.png|right|thumb|600px|Valkyri Armor (in yellow)]]
+[[File:Valkyri_Armor.png|center|thumb|600px|Valkyri Armor (in yellow)]]
@@ Line 92: / Line 92: @@
 It was spun by the weapon shaft and a D slot. A 1/16” pocket was milled on the bottom in order to fit a washer that held the weapon to the shaft and prevented it from falling off.
 It was originally meant to be made of S7 tool steel but due to problems with the order, it was instead made of P6 low carbon mold steel. The effects of this material choice are not known since it was never tested in competition.
-[[File:Valkyri_Weapon.png|right|thumb|600px|Valkyri Weapon]]
+[[File:Valkyri_Weapon.png|center|thumb|600px|Valkyri Weapon]]
@@ Line 109: / Line 109: @@
 Two spacers were used to position the pulley at the correct height of the front plate slot and the weapon motor. They also helped provide axial support for the pulley. They were two simple aluminum rings of different sizes that fit loosely on the shaft.
 Also one was lost somewhere in the electronics room and never found…
-[[File:Valkyri_WeaponA.png|right|thumb|600px|Valkyri Weapon Assembly]]
+[[File:Valkyri_WeaponA.png|center|thumb|600px|Valkyri Weapon Assembly]]

@@ Line 6: / Line 6: @@
 Valkyri is a 30lb undercutting horizontal spinner developed during the 2019-20 season for the Robobrawl competition. It was meant to implement innovative features for Battlebots such as magnets and a direct drive system but was never able to compete.
-{{plainlist|
+Team Members: <br>
-* Team Members:
+Bot lead: Nikolay Tranakiev <br>
-* Bot lead: Nikolay Tranakiev
+Judea Britt<br>
-*  Judea Britt
+Celina Huang<br>
-* Celina Huang
+Grace Khan<br>
-* Grace Khan
+Hoyean Le<br>
-* Hoyean Le
+Paul Matesevac <br>
-* Paul Matesevac
+Tyler Mesa <br>
-* Tyler Mesa
+Keaton Sadoski<br>
-* Keaton Sadoski
 == Design Basics ==

@@ Line 1: / Line 1: @@
 == Introduction ==
 Valkyri is a 30lb undercutting horizontal spinner developed during the 2019-20 season for the Robobrawl competition. It was meant to implement innovative features for Battlebots such as magnets and a direct drive system but was never able to compete.
@@ Line 15: / Line 17: @@
 Bot Friend: Carrie Wehmeyer