Difference between revisions of "Anomali(i)"

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| Max Joules
 
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| <span style="color: rgb(0, 0, 0); font-family: arial, sans, sans-serif; line-height: normal; white-space: pre-wrap;">275 Joules</span><br/>
 
| <span style="color: rgb(0, 0, 0); font-family: arial, sans, sans-serif; line-height: normal; white-space: pre-wrap;">275 Joules</span><br/>
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| <span style="color: rgb(0, 0, 0); font-family: arial, sans, sans-serif; line-height: normal; white-space: pre-wrap;">0.5 inches</span><br/>
 
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Revision as of 20:55, 19 December 2023

Anomali
(Highlight text)
Year Of Creation 2022-2023
Wins/Losses 13/5
Anomalii
(Highlight text)
Year Of Creation 2023
Wins/Losses 2/2
Information and Statistics
Weight Class BeetleWeight
Weapon Class Horizontal
Combined Wins/Losses 15/7


Anomali(i) is a horizontal undercutter beetleweight bot. The main concept of Anomali is a bot that is an undercutter in its intended and flipped positions. Anomali utilizes a bent 1/8 6061 top plate, to angle the weapon close to the ground when flipped upside-down.

The chassis for Anomali is primarily made out of a replaceable TPU shell, with a 6061 1/8 top and 1/4 pocketed bottom plate, held together with 6061 hex standoffs.

Anomali placed:

  • 5th at State of Franklin Robot Rumble
  • 1st at RoboJackets Grudge Matches
  • 2nd at RoboJackets in House Tournament

Anomalii placed:

  • 5th at RoboJackets in House Tournament

Competitions

State of Franklin Robot Rumble

Results: 2-2 - Tied 5th with Feloni

Bracket Style: Double Elimination

  • Win vs Tailspin
    • Tailspin is another horizontal undercutter. Tailspin placed 1st at State of Franklin Robot Rumble.
    • Anomali won via pit. Weapon system failed to spin up during match. Anomali opted to attempt to win with weapon on weapon collisions, which paid off.
  • Win vs Nasti
    • Nasti is a RoboJackets ring spinner. Nasti placed 7th at the State at Franklin Robot Rumble.
    • Anomali won via judges decision. Weapon system was still down, but Nasti took more damage on weapon collisions.
  • Loss vs Performance Anxiety
    • Performance Anxiety is a SSP Kit Bot. Performance Anxiety placed 3rd at the State of Franklin Robot Rumble.
    • Anomali lost via pit. Without a working weapon, Anomali couldn't do much against a wedge bot.
  • Loss vs Tailspin
    • Rematch versus Tailspin in the losers bracket.
    • Anomali lost via pit. Anomali was run in its inverted position, as the weapon worked that way. The weapon spun up, but not well, and after a few weapon on weapon collisions, the threads on our shoulder bolt sheared.

RoboJacket's Grudge Matches

Results: 4-0 - 1st Place

Bracket Style: Double Elimination

  • Win vs Scampi
    • Scampi is a RoboJackets vertical spinner. Scampi tied for 5th at Grudge Matches.
    • Anomali won via tapout. Anomali tore off Scampi's weapon mount early into match.
  • Win vs Waluigi
    • Waluigi is a RoboJackets vertical spinner. Waluigi placed 2th at Grudge Matches.
    • Anomali won via double knockout judges decision. Waluigi's drive was mostly dysfunctional, and Anomali bullied them, before getting entangled in the arena's duck tape.
  • Win vs Feloni
    • Feloni is a RoboJackets vertical spinner. Feloni placed 3rd at Grudge Matches.
    • Anomali won via judges decision. Anomali dominated the fight early on, before it's rear pulley gave out.
  • Win vs Nasti
    • Nasti is a Robojackets ring spinner. Nasti placed 4th at Grudge Matches.
    • Anomali won via judges decision. Having run out of Onyx pulleys, Anomali ran with an ABS pulley, which broke on the first hit.

Fall 2023

Results: 5-1

Pick-Up Matches

  • Win vs Barbii
    • Barbii a mentor created bot made of scrap material
    • Anomali won via knockout. Anomali disabled Bus-i's weapon and drive. Anomali's weapon lasted most of the match, until the two screws holding it to the top plate vibrated out.
  • Win vs Karl and Kranky
    • Robo-Rumble at NHRL with Karl a drum spinner and Kranky an undercutter.
    • Anomali won??? Weapon went down due to being jammed between the base plate and motor gear. After several weapon on weapon hits with Kranky, the weapon freed itself.
  • Win vs 80HD
    • 80HD is a modular bot from Ethan Jones. 80HD fought in it's horizontal configuration.
    • Anomali won via knockout. Anomali ate all of 80HD's wheels.
  • Win vs 80HD (Rematch)
    • 80HD is a modular bot from Ethan Jones. 80HD fought in it's vertical configuration.
    • Anomali won via knockout. Anomali initially losing, but 80HD's electronics started smoking.
  • Anomali vs Anomalii
    • Long awaited fight between the two iterations of Anomali(i).
    • Anomalii won via judges decision.

December 9th In House Tournament

Results: Anomali placed 2nd. Anomalii placed 5th

Bracket Style: Double Elimination

Anomali - Results: 3-2

  • Win vs Skinn0
    • Skinn0 is the platform for Skinni, a 3lb version of Chonki. Skinn0 placed 4th at December 9th.
    • Anomali won via judges decision. Anomali disabled Skinn0's weapon briefly during the fight.
  • Win vs 80HD
    • 80HD is a modular bot from Ethan Jones. 80HD fought in it's vertical configuration. 80HD placed 5th at December 9th.
    • Anomali won via judges decision. Honestly I feel that 80HD probably should have won this one.
  • Loss vs Waluigi
    • Waluigi is a RoboJackets vertical spinner. Waluigi placed 1st at December 9th.
    • Anomali lost via knockout. Anomali tapped after it's weapon was knocked off.
  • Win vs Barbii
    • Barbii is an eggbeater drum spinner. Barbii placed 3rd at December 9th.
    • Anomali won via knockout. Anomali initially losing, but 80HD's electronics started smoking.
  • Loss vs Waluigi
    • Waluigi is a RoboJackets vertical spinner. Waluigi placed 1st at December 9th.
    • Anomali lost via judges decision. Waluigi dominated this fight.

Anomalii - Results: 1-2

  • Win vs Barbii
    • Barbii is an eggbeater drum spinner. Barbii placed 3rd at December 9th.
    • Anomalii won via judges decision. Anomalii disabled Barbii's weapon briefly during the fight.
  • Loss vs Waluigi
    • Waluigi is a RoboJackets vertical spinner. Waluigi placed 1st at December 9th.
    • Anomalii lost via judges decision. Waluigi out drove Anomalii and landed some good hits.
  • Loss vs Skinn0
    • Skinn0 is the platform for Skinni, a 3lb version of Chonki. Skinn0 placed 4th at December 9th.
    • Anomalii lost via judges decision. Anomalii wasn't able to do much against Skinn0's shell.

Anomali

Created by: Ryan De Angioletti, Rafael Sena, Ian Kwuan

Mentor: Jacques Wang

Drive Motors Dartbox V2 Ultra torque motors
Drive Motor Controllers Wasp ESC
Weapon Motor Cobra CM-4008/24 Multirotor Motor 600 Kv
Weapon Motor Controllers RobotMatter 35A Blheli_32 ESC
Receiver 2A mini Reciever for Flysky Controller 4Ch
Remote Control Flysky FS-i6x 6-10Ch 2.4GHz RC transmitter
Battery MaxAmps 4s 1050mah
Wheels FingerTech Wheels (latex coated)


Max Weapon RPM 6200
Min Spin Up Time 0.9 seconds
Drive Speed ~4ft per second

Problems

  • Weapon is underpowered, theoretically outputting a max of around 120 joules.
  • Weapon did not sit level to the ground, angling upwards.
  • Could have benefitted from better wheel protection.
  • Anomali is incredibly slow, and has no pushing power.
  • The internal spacing is incredibly cramped, and there is barely enough room for the electronics.
    • Have to remove a drive side to plug in the battery.

Good aspects

  • The geared weapon system is incredibly resilient.
  • Our chassis held up remarkably well. The TPU protected the electronics and aluminum standoffs remarkably.
    • Because we made several backup TPU chassis and 1/8 aluminum plates, we were able to swap out any part that took damage.
  • The electronics held up very well. The smaller receiver and weapon esc allowed us to fit everything in the chassis.

Changes/Improvements

  • Currently running Nylon Gears to power our weapon, changing to timing belts should improve the efficiency of the weapon system.
    • Use timing belts and 3D printed timing pulleys.
    • Increase diameter of shoulder bolt.
  • Chassis design was a bit overkill.
    • Could decrease weight where protection is less needed.
    • Increase space on interior for electronics.
  • Add wheel protection

Anomalii

Created by: Ryan De Angioletti

Funded by: Invention Studio

Drive Motors Dartbox Viper 6mm motors
Drive Motor Controllers JustCuz Robotics Dual ESC
Weapon Motor Repeat 2836 1800kv brushless motor
Weapon Motor Controllers RobotMatter 35A Blheli_32 ESC
Receiver 2A mini Reciever for Flysky Controller 4Ch
Remote Control Flysky FS-i6x 6-10Ch 2.4GHz RC transmitter
Battery Galaxy 3s 850mah
Wheels 1/16" Titanium Cleats


Max Weapon RPM 9500 RPM
Max Joules 275 Joules
Max Bite 0.5 inches
Min Spin Up Time 0.75 seconds
Drive Speed ~12ft per second

Problems

  • Anomalii was originally designed for 4s, however had to change to 3s
    • During testing, one of the Dartbox Gecko motors stalled, meaning Anomalii had to switch to Vipers which do not run on 4s.
  • Left Viper motor seized broke after fourth fight
  • Could have benefitted from better weapon gear protection
  • TPU shell was significantly weaker the Anomali's shell, despite similar settings.
    • This version of TPU was printed on Ultimaker, instead of Prusa.
  • Motor shield rubs against weapon motor, causing white smoke to emit during long fights.
  • The bot is hard to control after a hit.

Good aspects

  • Much faster drive
  • Much faster weapon
    • When stuck against a wall, able to use the torque from instantly spinning up the weapon to escape.

Changes/Improvements

  • Increase the gap between our weapon motor and motor shield.
  • Improve TPU shell print quality (Print on Bamboo).
  • Slim down wheel TPU print thickness to better fit in bot.
  • Practice with drive and weapon.
  • Design for 3s.
  • Increase bite.

Gallery

AnomaliV1.jpeg AnomaliV2.jpg AnomaliV3B.jpg AnomaliV4.jpg

Early Iterations of Anomali

AnomaliV1.5.png AnomaliV1.6.jpg AnomaliV1.7.jpg

Iterations V1.5, V1.6, V1.7 of Anomali

Anomalii.jpeg

Anomalii

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