Anarchi

Fully Constructed Anarchi

Introduction

Anarchi was supposed to be an experimental 30lb bot where it's primary weapon could be switched between a horizontal spinner and a drum spinner via weapon modules that would be held by the chassis using a modular interface. Unfortunately, due to the poor member retention throughout the semester, the team was unable to manufacture the drum spinner module and was only able to finish the horizontal spinner module before competing in AVC 2022.

Members:

• Dylan Adriano (Bot Lead)
• Brian Naing
• Cade Tyler
• Jackson Isenberg
• Lucas Luwa

Weapon System

Shell Design

Shell was milled out of a 250 lb block of A36 steel. It took forever but was very effective in absorbing damage.

Pros:

Cons:

• Expensive, had to get Speed Machine to have them use a larger machine to mill the shell out.
• One piece, parts that got damaged on shell were not replaceable - dents needed to be pressed or hammered out.

Weapon Shaft Interface

A tapered roller bearing fits into a housing that is attached to the top of the shell.

Weapon-Drive Mechanism

• • Inspired by Hyperpolarized, it was later decided to drive the weapon by using a single driven wheel at the top of the bot, with rollers along the surface to give additional support. A central shaft was used as a dead axle support.

Chassis System

• The chassis mostly consisted of aluminum, featuring of a ¼” top and side plates and ⅛” bottom plate.
• The front and back plates were made of HDPE, which bent to form Chonkii’s robustly round shape.
• The chassis had multiple rollers spaced out along its top, giving additional support to the shell track above.
• The central dead axle was constrained by two blocks, mounted to both the top and bottom plates. However, it was later determined that a single longer block with a key would constrain the shaft better than the two block system.
  • While drilling through the blocks into the shaft, a drill bit melted inside, acting as a makeshift pin (that was instantly destroyed in competition).

Electronics

Drive Motors	geh
Drive Motor Controllers	Sabertooth Dual 25A 6V-24V Regenerative Motor Driver
Weapon Motor	Horizontal: Scorpion SII-4035-250KV, Drum: HKIV-4025-1100KV
Weapon Motor Controllers	HobbyWing Platinum PRO V4 120A ESC
Receiver	Hobby King 2.4Ghz Receiver 6Ch V2
Remote Control	Hobby King 2.4Ghz 6Ch Tx and Rx V2
Battery	Zeee 22.2V 60C 4000mAh 6S Lipo Battery

Competitions

AVC

• Results: 1-2
  • Bracket Style: Double Elimination
    • [Anarchi (loser) V.S. Wedgeham (loser): YouTube Link]
      • Match started with Wedgeham overwhelming Anarchi with it's superior driving by raming into us and pushing us into the wall repeatedly
      • Anarchi never tried to spin it's weapon up to maximum velocity due to the fear of self damage.
      • Anarchi landed a few small hits on wedgeham but none enough to do any significant damage due to the weapon not being able to reach it's max velocity
      • Half-way through the match, the gear boxes got internally damaged, slowing down our drive and our ability to move
      • When time hit 3 minutes, Wedgeham was the decided winner due to it being able to prevent us from spinning up or moving properly
      • After the match, it was determined that the left drive motor would no longer spin the drive wheel when above 60% throttle
      • We were unable to repair the gearboxes as the bot would have to be mostly disassembled in order to access them. The issue likely could've been solved if we had been able to easily open up the gearboxes
    • [Anarchi (winner) V.S. Dragon Fruit (loser): YouTube Link]
      • Drive was much slower and harder to control. Had to slowly move anarchi towards the opponent
      • DragonFruit had a spinning active weapon and drive but seemed to also have some slight driving issues
      • Weapon was able to spin up to a high enough speed to rip off DragonFruit's wheel resulting in them tapping out.
      • After this match, orange powder from the polyurethane flat belts grinding against the inner side plate had formed and the bearings didn't spin as cleanly as previously (they felt slightly crunchier)
      • Weapon had suffered a small amount of blunting around the edges that made impact.
    • [Anarchi (loser) V.S. Crippling Depression (winner): YouTube Link]
      • Drive had almost completely failed. Anarchi was unable to fully drive to the starting zone
      • Crippling depression fought in overcutter mode to likely avoid unnessecary damage to itself as Robert Cowan knew our drive was no longer working and he had matches left
      • Weapon was unable to spin up to a sufficient speed due to Crippling Depression's constant ramming. Crippling depression kept ramming us until our drive would not work at all.
      • More orange powder had formed and the weapon bearings now felt significantly more crunchy and spun less smoothly. In a perfect world, they should've been replaced before this match.

Issues

• Stuff
• Other Stuff

Changes to make

• Stuff
• Other Stuff

Trivia

• The Vectrax was rendered inoperable twice by Chonki members (mainly Brian) during its construction.