Blasphemi

Blasphemi
Year of Creation	2021-2022
Versions
Current Version	1.0
Update Year	2021-2022
Wins/Losses	0/3
Information and Statistics
Weight Class	BeetleWeight
Weapon Class	Ring Spinner
Combined Wins/Losses	0/3
Weapon Speed	4500 RPM

Blasphemi is a 3lb ring spinner that competed in the 2022 Motorama competition.

Competitions

Motorama 2022

• Results: 0-2
  • Bracket Style: Double Elimination
    • [Blasphemi (loser) V.S. Off Killter (winner): https://youtu.be/U74VuuBT5oI]
      • This match saw Blasphemi go against a vertical beater bar robot. Blasphemi lost.
      • Blasphemi's weapon worked very effectively at the start of the match. The ring took multiple direct impacts, yet continued to work.
      • Blasphemi failed to deal damage using the weapon due mainly to little driving experience and human driver mistakes.
      • Eventually the ring took enough carnage and started working, but the drive was fine.
      • By the end of the match, the robot had been seriously scraped up and the ring needed to be fixed, but the bot was easy enough to repair for match two.
    • [Blasphemi (loser) V.S. Purple Nation Army (winner): https://youtu.be/E18c2YfANUo]
      • This match saw Blasphemi go up against a wedge bot. Blasphemi lost due to no effective damage being dealt.
      • Blasphemi's weapon was working at the beginning of the match but faltered by the end due to damage from the previous battle.
      • At the time of this match, the ring was no longer fully circular or flat, and this led to the failure.
      • Ultimately, beyond pinning, the purple nation army was unable to deal any damage or attacks to Blasphemi.
      • This match resulted in Blasphemi's elimination from the bracket.
  • Robojacket Rumble
    • [Blasphemi vs Everyone: https://youtu.be/GNDQDlxVAPc]
      • This was just for fun. All robojackets robots were put into the large motorama arena including all 3lb and both 30lb robots.
      • The big bots were told not to attack for a few minutes while the little ones attacked. Then the big robots spun up and quickly won.

Version

Blasphemi V1.0

Created by: Sydney Baker (Mentor), Daniel Vail, Madison DeBruin, Andrew Fugett, Chinonye Mbeledogu, German Ortega, and Lucas McCarhy

Drive Motors	Pololu 9.7:1 Metal Gearmotor 25Dx48L
Drive Motor Controllers	Scorpion Mini
Weapon Motor	PROPDRIVE 2836 3000KV Brushless Outrunner
Weapon Motor Controllers	Aerostar 50A ESC
Receiver	HobbyKing 6ch Receiver
Remote Control	HobbyKing T6A V2
Battery	Turnigy NanoTech 1000mAh 3s

Design Summary

• Weapon
  • Our weapon is comprised of a circular ring that goes around the outside of the robot, guided by 3 HDPE rollers and powered by a brushless outrunner with an o-ring glued to the motor bell for friction. The ring was made from two halves in order to mill out the v slot which the rollers interface with, and was attached together with a combination of screws and press fit pins. The main ring assembly is made from 6061 aluminum and has 2 replaceable teeth attached made out of steel.
• Chassis
  • The chassis consists of top an bottom plates made out of 1/8th aluminum vertically connected by 4 vertical supports, 2 motor mounts, and 3 rods to support the rollers.
• Drive
  • The drive system is composed of two Polulu DC gearmotors connected to 2.25" foam wheels by direct drive.

Positives

• Our robot remained structurally nearly undamaged. Some went so far as to call it indestructible. Even after two matches, a 3 lb rumble, and a RoboJackets rumble, which saw 3 separate direct hits from 30lb robots, Blasphemi still remained in one piece. At the very start of the competition, the weapon worked very well.

Issues

• Ultimately, the only points of failure were the ring and the motor driving the ring. Screws and pins holding the two halves of the ring together sheared at the first competition, while the ring deformed and became non-circular. When the robot was re-built for the RoboJackets in-house competition, a sturdier aluminum was used to compensate for this. Additionally, it bent, thus making it more challenging to spin on our horizontal circular rollers. This friction ultimately broke the weapon system. The retaining mechanism for the ring driving motor failed and the motor was able to slide back, thereby decreasing interfacing with the weapon. Finally, the O-ring system that we used to contact the ring had a tendency to break and fall off.

Changes to make

• Going forward, we are looking to create the ring out of one solid piece of higher-grade aluminum. As opposed to using a step, we will implement an external 45-degree chamfer. This should increase the average cross-sectional area of the ring, thereby making it stronger. By making the ring from one piece, we remove the need for screws and pins which shear relatively easily. Finally, we are looking at a better interfacing mechanism from the motor to the ring and a better retaining mechanism to keep the ring in place.

Notes:

Naming Inspiration: stuff