Anomali(i)

Anomali (2022-2023)
Wins/Losses	13/5
Anomalii (2023)
Wins/Losses	2/2

Anomali(i) is a horizontal undercutter beetleweight bot. The main concept of Anomali(i) 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(i) 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.

The original version of Anomali was designed and constructed during the 2022-2023 school year, as a part of the RoboJacket's 3lb program.

The second version of Anomalii was designed and constructed during Fall of 2023, with funding from Georgia Tech's Invention Studio.

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 Anomali

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: 4-1

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.
• Loss vs Anomalii
  • Long awaited fight between the two iterations of Anomali(i).
  • Anomalii won via judges decision.

December 9th In House Tournament

Results: 3-2 - 2nd Place

Bracket Style: Double Elimination

• 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.

Competitions Anomalii

Fall 2023

Results: 1-0

Pick-Up Matches

• Win vs Anomali
  • Long awaited fight between the two iterations of Anomali(i).
  • Anomalii won via judges decision.

December 9th In House Tournament

Results: 1-2 - Tied 5th with 80HD

Bracket Style: Double Elimination

• 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
Max Joules	120 Joules
Max Bite	0.5 inches
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

• 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 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.
• Increase bite.

Gallery

Early Iterations of Anomali

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

Anomalii