Anomali(i)

Anomali
Year Of Creation	2022-2023
Wins/Losses	13/5
Anomalii
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 4/1/2023

• 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.

RoboJackets Grudge Matches 4/29/2023

• 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: 4-0
  • Pick-Up Matches
    • Win vs Bus-i
      • Bus-i 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 V1.5

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	0
Min Spin Up Time	Too Long
Drive Speed	~4ft per second

Problems

• Our weapon system never worked during a match.
  • Original design left little room between our weapon and motor mounted pulley, causing us to destroy a pulley and motor during testing.
  • Had issues tensioning pulleys, which were exasperated by non-concentric pulleys.
• The inside of the chassis was cramped, and made assembling electronics difficult.
• Could have benefitted from better wheel protection.
• None of our original electronics were in stock, so everything ended up being a substitute.

Good aspects

• The weapon proved very durable on weapon to weapon hits, despite it not working.
• 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.
• While the ultra torque motors caused us to be slower, we had much more control over the bot.
• The electronics held up very well. The smaller receiver and weapon esc allowed us to fit everything in the chassis.

Changes/Improvements

• Not entirely sure why our weapon system only worked during testing. Discovered that weapon failures were largely due to a grounded motor coil.
  • Increase the gap between our weapon and pulleys.
  • 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.
• Wheel Protection
• Use smaller ESCs where possible.

Competitions

• State of Franklin Robot Rumble 2023

Anomali V1.6

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

Mentor: Jacques Wang

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

Problems

• Rear pulley kept on getting worn down and hit by our weapon.
• Timing belts kept on falling off destroyed pulleys, or stretching.
• The inside of the chassis was cramped, and made assembling electronics difficult.
• Despite using torque motors for drive, we lost pushing matches.
• Could not figure out how to get our 4s batteries into the bot, and had to use 3s.

Good aspects

• The weapon finally worked.
• We took no damage the entire day, except on our pulley and weapon.

Changes/Improvements

• Improve reliability and durability of weapon assembly.
  • Increase the gap between our weapon and pulleys.
  • Use timing belts and 3D printed Onyx timing pulleys not ABS.
  • 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.
• Wheel Protection
• Use smaller ESCs where possible.
• Change drive motors.

Competitions

• RoboJackets Grudge Matches 2023

Anomali V1.7

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

Mentor: Jacques Wang

Problems

• Similar problems to previous versions.
  • Pushing Force
  • Drive Speed
  • Low Weapon Kinetic Energy
  • Internal Space

Good aspects

• Nylon Gears worked better than belts and pulleys.

Changes/Improvements

• Full Redesign

Competitions

• Fall 2023 Random Matches

Anomalii

Created by: Ryan De Angioletti

Funded by: Invention Studio

Drive Motors	Dartbox V2 Ultra torque motors
Drive Motor Controllers	JustCuz Robotics Dual 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	0
Min Spin Up Time	Too Long
Drive Speed	~4ft per second

Problems

• Our weapon system never worked during a match.
  • Original design left little room between our weapon and motor mounted pulley, causing us to destroy a pulley and motor during testing.
  • Had issues tensioning pulleys, which were exasperated by non-concentric pulleys.
• The inside of the chassis was cramped, and made assembling electronics difficult.
• Could have benefitted from better wheel protection.
• None of our original electronics were in stock, so everything ended up being a substitute.

Good aspects

• The weapon proved very durable on weapon to weapon hits, despite it not working.
• 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.
• While the ultra torque motors caused us to be slower, we had much more control over the bot.
• The electronics held up very well. The smaller receiver and weapon esc allowed us to fit everything in the chassis.

Changes/Improvements

• Not entirely sure why our weapon system only worked during testing. Discovered that weapon failures were largely due to a grounded motor coil.
  • Increase the gap between our weapon and pulleys.
  • 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.
• Wheel Protection
• Use smaller ESCs where possible.

Competitions

• State of Franklin Robot Rumble 2023

Iterations

Anomali V1.1	Anomali V1.2	Anomali V1.3 Before & After Testing		Anomali V1.4
Type
Half Scale model made from PLA and Aluminum.	Half Scale model made from PLA and Aluminum.	Half Scale model made from PLA and Aluminum(missing top plate).		Full Scale model made from TPU, PLA, and Steel.
Testing
Felt for weakness.	Felt for weakness, thrown at concrete.	Hit with Hammers, thrown at concrete.		Hit with Hammers, thrown at concrete, TPU hit by car.
Achievements
Began CAD.	Way Stronger, Battery plate.	Very durable, fully CADed design.		Improved battery plate. Standoff in middle of chassis.
Failures
Overweight, Flimsy, Not fully CADed.	Split shell design not beneficial.	Big battery cover, battery plate caves in.		Electronics divider.

Anomali V1.5	Anomali V1.6	Anomali V1.7
Type
Full Bot	Full Bot	Full Bot
Testing
State of Franklin Robot Rumble 2023.	RoboJackets in house grudge matches.	Fall 2023 Matches.
Achievements
Full Bot. Placed 5th at State of Franklin Robot Rumble 2023.	Working Weapon. Placed 1st at RoboJackets Grudge Matches 2023.	Slowly dying.
Failures
Weapon assembly. Electronic spacing.	Rear pulley and belts.	Pushing force.

Anomalii
Type
Full Bot
Testing
December 9th In House Tournament.
Achievements
Full Bot. Placed 5th at December 9th In House Tournament.
Failures
Drive Assembly, Weapon Bite.