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.
• The bot bounces a lot after a hit.

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 motor and electron.
  • 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 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	11340 RPM
Min Spin Up Time	~1 second
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.

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.

Competitions

• December 9th In House Tournament

Gallery

Early Iterations of Anomali

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

Anomalii