Anomali(i)

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Anomali
(Highlight text)
Year Of Creation 2022-2023
Wins/Losses 13/5
Anomalii
(Highlight text)
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

AnomaliV1.jpeg AnomaliV2.jpg AnomaliV3B.jpg AnomaliV4.jpg

Early Iterations of Anomali

AnomaliV1.5.png AnomaliV1.6.jpg AnomaliV1.7.jpg

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

Anomalii.jpeg

Anomalii

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