Difference between revisions of "Anomali(i)"

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{| class="wikitable" align="right"
 
{| class="wikitable" align="right"
 
|-
 
|-
−
! scope="row" colspan="2" style="background-color:#68FF3F" | Anomali
+
! scope="row" colspan="2" style="background-color:#68FF3F" | Anomali (2022-2023)
 
|-
 
|-
−
! scope="row" colspan="2" | [[File:AnomaliPic.png|frameless|middle|480x360px|(Highlight text)]]
+
! scope="row" colspan="2" | [[File:AnomaliPic.png|frameless|middle|450x360px|(Highlight text)]]
−
|-
 
−
! scope="row" style="text-align:left" style="background-color:#BBF7A0"| Year Of Creation
 
−
| {{{year|2022-2023}}}
 
 
|-
 
|-
 
! scope="row" style="text-align:left" style="background-color:#BBF7A0"| Wins/Losses
 
! scope="row" style="text-align:left" style="background-color:#BBF7A0"| Wins/Losses
−
| {{{winloss|7/2}}}
+
| {{{winloss|13/5}}}
 
|-
 
|-
−
! scope="row" colspan="2" style="background-color:#68FF3F" | Information and Statistics
+
! scope="row" colspan="2" style="background-color:#68FF3F" | Anomalii (2023)
 
|-
 
|-
−
! scope="row" style="text-align:left" style="background-color:#BBF7A0"| Weight Class
+
! scope="row" colspan="2" | [[File:Anomalii.jpeg|frameless|middle|450x360px|(Highlight text)]]
−
| {{{wc|BeetleWeight}}}
 
 
|-
 
|-
−
! scope="row" style="text-align:left" style="background-color:#BBF7A0"| Weapon Class
+
! scope="row" style="text-align:left" style="background-color:#BBF7A0"| Wins/Losses
−
| {{{weapc|Horizontal}}}
+
| {{{winloss|2/2}}}
−
|-
 
−
! scope="row" style="text-align:left" style="background-color:#BBF7A0"| Combined Wins/Losses
 
−
| {{{winloss|7/2}}}
 
 
|-
 
|-
 
|}
 
|}
  
−
[https://www.youtube.com/watch?v=pUzY7aUoZCM Anomali] is a horizontal undercutter beetleweight bot.  Anomali was designed and built during Fall 2022, and Spring 2023, competing at the State of Franklin Robot Rumble, tying for 5th place.
 
  
−
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.   
+
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 [https://www.behance.net/gallery/188652653/Anomalii 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 2023|State of Franklin Robot Rumble]] ===
 +
 
 +
Results: 2-2 - Tied 5th with [https://wiki.robojackets.org/Feloni Feloni]
 +
 
 +
Bracket Style: Double Elimination
 +
*[https://www.youtube.com/watch?v=HI-pploQiJw 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.
 +
*[https://youtu.be/NyuAEq0VtXA?t=16184 Win vs Nasti]
 +
**[https://wiki.robojackets.org/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.
 +
*[https://www.youtube.com/watch?v=qpCBLeORpyQ Loss vs Performance Anxiety]
 +
**Performance Anxiety is a [https://justcuzrobotics.com/shop/p/ssp-robot-kit 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.
 +
*[https://www.youtube.com/watch?v=ixZlz7MKvA4 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
 +
*[https://youtu.be/_P-I4XkoOko Win vs Scampi]
 +
**[https://wiki.robojackets.org/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. 
 +
*[https://youtu.be/ZfZhoR0fj58 Win vs Waluigi]
 +
**[https://wiki.robojackets.org/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.
 +
*[https://youtu.be/RZ9OZAIbXt8 Win vs Feloni]
 +
**[https://wiki.robojackets.org/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.
 +
*[https://www.youtube.com/watch?v=gaaXopH0CyA Win vs Nasti]
 +
**[https://wiki.robojackets.org/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
  
−
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.
+
Pick-Up Matches
 +
*[https://www.youtube.com/watch?v=htEM6MZU6os Win vs Barbii]
 +
**[https://wiki.robojackets.org/Bus-i 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.
 +
*[https://www.youtube.com/watch?v=f5n1L31Qr-g Win vs Karl and Kranky]
 +
**Robo-Rumble at NHRL with [https://wiki.nhrl.io/wiki/index.php/Karl Karl] a drum spinner and [https://wiki.nhrl.io/wiki/index.php/Kranky_V2 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.
 +
*[https://youtu.be/K8ZKu7QECUg 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.
 +
*[https://www.youtube.com/watch?v=7c5rRUTZ4TM&t=4s 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.
 +
*<span style="color:red">[https://youtu.be/x8rGcV-SnoU Loss vs Anomalii]</span>
 +
**<span style="color:red">Long awaited fight between the two iterations of Anomali(i).</span>
 +
**<span style="color:red">Anomalii won via judges decision.</span>
  
−
== Competitions ==
+
=== [[December In House Competition 2023|December 9th In House Tournament]]  ===
  
−
=== [[State of Franklin Robot Rumble 2023|State of Franklin Robot Rumble 4/1/2023]] ===
+
Results: 3-2 - 2nd Place
  
−
*Results: 2-2 - Tied 5th with [https://wiki.robojackets.org/Feloni Feloni]
+
Bracket Style: Double Elimination
−
**Bracket Style: Double Elimination
 
−
***[https://www.youtube.com/watch?v=HI-pploQiJw 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.
 
−
***[https://youtu.be/NyuAEq0VtXA?t=16184 Win vs Nasti]
 
−
****[https://wiki.robojackets.org/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.
 
−
***[https://www.youtube.com/watch?v=qpCBLeORpyQ Loss vs Performance Anxiety]
 
−
****Performance Anxiety is a [https://justcuzrobotics.com/shop/p/ssp-robot-kit 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.
 
−
***[https://www.youtube.com/watch?v=ixZlz7MKvA4 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 ===
+
*[https://www.youtube.com/watch?v=XvosuKmzQ2c 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.
 +
*[https://www.youtube.com/watch?v=TXqYELOII4o 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.
 +
*[https://www.youtube.com/watch?v=g1OsTDVLPBQ Loss vs Waluigi]
 +
**[https://wiki.robojackets.org/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.
 +
*[https://youtu.be/YaJnmhxCjGA Win vs Barbii]
 +
**[https://wiki.robojackets.org/Bus-i 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.
 +
*[https://www.youtube.com/watch?v=ZNoL9AGr8Dk Loss vs Waluigi]
 +
**[https://wiki.robojackets.org/Waluigi Waluigi] is a RoboJackets vertical spinner.  Waluigi placed 1st at December 9th.
 +
**Anomali lost via judges decision.  Waluigi dominated this fight.
  
−
*Results: 4-0  -  1st Place
+
== Competitions Anomalii ==
−
**Bracket Style: Double Elimination
 
−
***[https://youtu.be/_P-I4XkoOko Win vs Scampi]
 
−
****[https://wiki.robojackets.org/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. 
 
−
***[https://youtu.be/ZfZhoR0fj58 Win vs Waluigi]
 
−
****[https://wiki.robojackets.org/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.
 
−
***[https://youtu.be/RZ9OZAIbXt8 Win vs Feloni]
 
−
****[https://wiki.robojackets.org/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.
 
−
***[https://www.youtube.com/watch?v=gaaXopH0CyA Win vs Nasti]
 
−
****[https://wiki.robojackets.org/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 ===
 
=== Fall 2023 ===
  
−
*Results: 1-0
+
Results: 1-0
−
**Pick-Up Matches
+
 
−
***[https://www.youtube.com/watch?v=htEM6MZU6os Win vs Bus-i]
+
Pick-Up Matches
−
****[https://wiki.robojackets.org/Bus-i Bus-i] a mentor created bot made of scrap material
+
*<span style="color:red">[https://youtu.be/x8rGcV-SnoU Win vs Anomali]</span>
−
****Anomali won via knockout.  Anomali disabled Bus-i's weapon and drive.
+
**<span style="color:red">Long awaited fight between the two iterations of Anomali(i).</span>
 +
**<span style="color:red">Anomalii won via judges decision.</span>
 +
 
 +
=== [[December In House Competition 2023|December 9th In House Tournament]]  ===
 +
 
 +
Results: 1-2 - Tied 5th with 80HD
 +
 
 +
Bracket Style: Double Elimination
 +
 
 +
*[https://youtu.be/FyLkJNp2Daw Win vs Barbii]
 +
**[https://wiki.robojackets.org/Bus-i 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.
 +
*[https://www.youtube.com/watch?v=a30ttYuUHSA Loss vs Waluigi]
 +
**[https://wiki.robojackets.org/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.
 +
*[https://www.youtube.com/watch?v=1wzfmubtf0c 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 V1.5 ==
+
== Anomali ==
 +
 
 +
[[File:AnomaliV1.7render.bmp|frameless|right|775x600px]]
 +
[[File:AnomaliSide.bmp|frameless|right|775x600px]]
  
 
Created by: <span style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;">Ryan De Angioletti, Rafael Sena, Ian Kwuan</span>
 
Created by: <span style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;">Ryan De Angioletti, Rafael Sena, Ian Kwuan</span>
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|-
 
|-
 
| Max Weapon RPM
 
| Max Weapon RPM
−
| <span style="color: rgb(0, 0, 0); font-family: arial, sans, sans-serif; line-height: normal; white-space: pre-wrap;">0</span><br/>
+
| <span style="color: rgb(0, 0, 0); font-family: arial, sans, sans-serif; line-height: normal; white-space: pre-wrap;">6200</span><br/>
 +
|-
 +
| Max Joules
 +
| <span style="color: rgb(0, 0, 0); font-family: arial, sans, sans-serif; line-height: normal; white-space: pre-wrap;">120 Joules</span><br/>
 +
|-
 +
| Max Bite
 +
| <span style="color: rgb(0, 0, 0); font-family: arial, sans, sans-serif; line-height: normal; white-space: pre-wrap;">0.5 inches</span><br/>
 
|-
 
|-
 
| Min Spin Up Time
 
| Min Spin Up Time
−
| Too Long
+
| 0.9 seconds
 
|-
 
|-
 
| Drive Speed
 
| Drive Speed
Line 122: Line 202:
 
==== Problems ====
 
==== Problems ====
  
−
*Our weapon system never worked during a match.
+
*Weapon is underpowered, theoretically outputting a max of around 120 joules.
−
**Original design left little room between our weapon and motor mounted pulley, causing us to destroy a pulley and motor during testing.
+
*Weapon did not sit level to the ground, angling upwards.
−
**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.
 
*Could have benefitted from better wheel protection.
−
*None of our original electronics were in stock, so everything ended up being a substitute.
+
*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 ====
 
==== Good aspects ====
  
−
*The weapon proved very durable on weapon to weapon hits, despite it not working.
+
*The geared weapon system is incredibly resilient.  
 
*Our chassis held up remarkably well.  The TPU protected the electronics and aluminum standoffs remarkably.
 
*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.
 
**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.
 
*The electronics held up very well.  The smaller receiver and weapon esc allowed us to fit everything in the chassis.
  
 
==== Changes/Improvements ====
 
==== Changes/Improvements ====
  
−
*Not entirely sure why our weapon system only worked during testing. <span style="color:red">Discovered that weapon failures were largely due to a grounded motor coil.</span>
+
*Changing to timing belts should improve the efficiency of the weapon system.
−
**Increase the gap between our weapon and pulleys.
 
 
**Use timing belts and 3D printed timing pulleys.
 
**Use timing belts and 3D printed timing pulleys.
 
**Increase diameter of shoulder bolt.
 
**Increase diameter of shoulder bolt.
Line 146: Line 224:
 
**Could decrease weight where protection is less needed.
 
**Could decrease weight where protection is less needed.
 
**Increase space on interior for electronics.
 
**Increase space on interior for electronics.
−
*Wheel Protection
+
*Add wheel protection
−
*Use smaller ESCs where possible.
 
  
−
==== Competitions ====
+
== Anomalii ==
  
−
*State of Franklin Robot Rumble 2023
+
[[File:AnomaliiCAD.bmp|frameless|right|775x1000px]]
 +
[[File:AnomaliiSide.bmp|frameless|right|775x1000px]]
  
−
== Anomali V1.6 ==
+
Created by: <span style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;">Ryan De Angioletti</span>
−
 
 
−
Created by: <span style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;">Ryan De Angioletti, Rafael Sena, Ian Kwuan</span>
 
  
−
Mentor: <span style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;">Jacques Wang</span>
+
Funded by: <span style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;">Invention Studio</span>
  
 
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
 
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
 
|-
 
|-
−
| Max Weapon RPM
+
| Drive Motors
−
| <span style="color: rgb(0, 0, 0); font-family: arial, sans, sans-serif; line-height: normal; white-space: pre-wrap;">7560 (theoretical) </span><br/>
+
| <span style="color: rgb(0, 0, 0); font-family: arial, sans, sans-serif; line-height: normal; white-space: pre-wrap;">[https://justcuzrobotics.com/products/dartbox-squared-drive?variant=45099914920245 Dartbox Viper 6mm motors]</span><br/>
 +
|-
 +
| Drive Motor Controllers
 +
| [https://justcuzrobotics.com/products/dual-esc-2x15 JustCuz Robotics Dual ESC]
 +
|-
 +
| Weapon Motor
 +
| [https://repeat-robotics.com/buy/2836-beetle-brushless-motor/ Repeat 2836 1800kv brushless motor]
 +
|-
 +
| Weapon Motor Controllers
 +
| [https://robotmatter.com/products/robotmatter-reversible-esc RobotMatter 35A Blheli_32 ESC]
 +
|-
 +
| Receiver
 +
| <span style="line-height: 20.7999992370605px;">[https://www.amazon.com/FEICHAO-FS2A-4CH-Compatible-Receiver-Controller/dp/B081CJFVFV/ref=sr_1_19?crid=37ZWNI884FGPW&keywords=flysky+receiver&qid=1676658244&s=toys-and-games&sprefix=flysky+receiver%2Ctoys-and-games%2C94&sr=1-19 2A mini Reciever for Flysky Controller 4Ch]</span><br/>
 +
|-
 +
| Remote Control
 +
| <span style="line-height: 20.7999992370605px;">[https://www.amazon.com/dp/B0744DPPL8?ref_=cm_sw_r_apan_dp_6FP2TKWQYSS0BKPHDH8K Flysky FS-i6x 6-10Ch 2.4GHz RC transmitter]</span><br/>
 
|-
 
|-
−
| Min Spin Up Time
+
| Battery
−
| ~1 second
+
| <span style="line-height: 20.7999992370605px;">[https://www.robotmarketplace.com/products/0-ft-8503s.html Galaxy 3s 850mah]</span><br/>
 
|-
 
|-
−
| Drive Speed
+
| Wheels
−
| ~4ft per second
+
| <span style="line-height: 20.7999992370605px;">1/16" Titanium Cleats</span><br/>
 
|}
 
|}
  
−
==== 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: <span style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 12.6999998092651px; line-height: 20.7999992370605px;">Ryan De Angioletti</span>
 
  
 
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
 
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
 
|-
 
|-
 
| Max Weapon RPM
 
| Max Weapon RPM
−
| <span style="color: rgb(0, 0, 0); font-family: arial, sans, sans-serif; line-height: normal; white-space: pre-wrap;">7560 (theoretical) </span><br/>
+
| <span style="color: rgb(0, 0, 0); font-family: arial, sans, sans-serif; line-height: normal; white-space: pre-wrap;">9500 RPM</span><br/>
 +
|-
 +
| Max Joules
 +
| <span style="color: rgb(0, 0, 0); font-family: arial, sans, sans-serif; line-height: normal; white-space: pre-wrap;">275 Joules</span><br/>
 +
|-
 +
|-
 +
| Max Bite
 +
| <span style="color: rgb(0, 0, 0); font-family: arial, sans, sans-serif; line-height: normal; white-space: pre-wrap;">0.5 inches</span><br/>
 
|-
 
|-
 
| Min Spin Up Time
 
| Min Spin Up Time
−
| ~1 second
+
| 0.75 seconds
 
|-
 
|-
 
| Drive Speed
 
| Drive Speed
−
| ~4ft per second
+
| ~12ft per second
 
|}
 
|}
  
 
==== Problems ====
 
==== Problems ====
  
−
*Similar problems to previous versions.
+
*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 ====
 
==== Good aspects ====
  
−
*Nylon Gears held up well during fights.
+
*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 ====
 
==== Changes/Improvements ====
  
−
*Full Redesign
+
*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.
  
−
==== Competitions ====
+
== Gallery ==
 +
[[File:AnomaliV1.jpeg|frameless|middle|300x300px]]
 +
[[File:AnomaliV2.jpg|frameless|middle|301x300px]]
 +
[[File:AnomaliV3B.jpg|frameless|middle|301x300px]]
 +
[[File:AnomaliV4.jpg|frameless|middle|300x300px]]
  
−
*Random Matches
+
Early Iterations of Anomali
  
−
== Iterations ==
+
[[File:AnomaliV1.5.png|frameless|middle|402x302px]]
 +
[[File:AnomaliV1.6.jpg|frameless|middle|402x302px]]
 +
[[File:AnomaliV1.7.jpg|frameless|middle|402x302px]]
  
−
{| class="wikitable" align="middle"
+
Iterations V1.5, V1.6, V1.7 of Anomali
−
|-
 
−
! scope="row" colspan="1" style="background-color:#FFFF41" | Anomali V1.1
 
−
! scope="row" colspan="1" style="background-color:#FFFF41" | Anomali V1.2
 
−
! scope="row" colspan="2" style="background-color:#FFFF41" | Anomali V1.3 Before & After Testing
 
−
! scope="row" colspan="1" style="background-color:#FFFF41" | Anomali V1.4
 
−
|-
 
−
! scope="row" colspan="1" | [[File:AnomaliV1.jpeg|frameless|middle|200x150px]]
 
−
! scope="row" colspan="1" | [[File:AnomaliV2.jpg|frameless|middle|200x150px]]
 
−
! scope="row" colspan="1" | [[File:AnomaliV3.jpg|frameless|middle|200x150px]]
 
−
! scope="row" colspan="1" | [[File:AnomaliV3B.jpg|frameless|middle|200x150px]]
 
−
! scope="row" colspan="1" | [[File:AnomaliV4.jpg|frameless|middle|200x150px]]
 
−
|-
 
−
! scope="row" colspan="5" style="background-color:#FFFFA6" | Type
 
−
|-
 
−
! scope="row" colspan="1"| Half Scale model made from PLA and Aluminum.
 
−
! scope="row" colspan="1"| Half Scale model made from PLA and Aluminum.
 
−
! scope="row" colspan="2"| Half Scale model made from PLA and Aluminum(missing top plate).
 
−
! scope="row" colspan="1"| Full Scale model made from TPU, PLA, and Steel.
 
  
−
|-
+
[[File:Anomalii.jpeg|frameless|middle|605x912px]]
−
! scope="row" colspan="5" style="background-color:#FFFFA6" | Testing
+
[[File:IMG 7062.JPG|frameless|middle|605x912px]]
−
|-
 
−
! scope="row" colspan="1"| Felt for weakness.
 
−
! scope="row" colspan="1"| Felt for weakness, thrown at concrete.
 
−
! scope="row" colspan="2"| Hit with Hammers, thrown at concrete.
 
−
! scope="row" colspan="1"| Hit with Hammers, thrown at concrete, TPU hit by car.
 
−
|-
 
−
! scope="row" colspan="5" style="background-color:#FFFFA6" | Achievements
 
−
|-
 
−
! scope="row" colspan="1"| Began CAD.
 
−
! scope="row" colspan="1"| Way Stronger, Battery plate.
 
−
! scope="row" colspan="2"| Very durable, fully CADed design.
 
−
! scope="row" colspan="1"| Improved battery plate.  Standoff in middle of chassis.
 
−
|-
 
−
! scope="row" colspan="5" style="background-color:#FFFFA6" | Failures
 
−
|-
 
−
! scope="row" colspan="1"| Overweight, Flimsy, Not fully CADed.
 
−
! scope="row" colspan="1"| Split shell design not beneficial.
 
−
! scope="row" colspan="2"| Big battery cover, battery plate caves in.
 
−
! scope="row" colspan="1"| Electronics divider.
 
−
|-
 
−
|}
 
  
−
{| class="wikitable" align="middle"
+
Anomalii
−
|-
 
−
! scope="row" colspan="1" style="background-color:#7CFF40" | Anomali V1.5
 
−
! scope="row" colspan="1" style="background-color:#7CFF40" | Anomali V1.6
 
−
|-
 
−
! scope="row" colspan="1" | [[File:AnomaliV1.5.png|frameless|middle|200x150px]]
 
−
! scope="row" colspan="1" | [[File:AnomaliV1.6.jpg|frameless|middle|200x150px]]
 
−
|-
 
−
! scope="row" colspan="3" style="background-color:#BBF7A0" | Type
 
−
|-
 
−
! scope="row" colspan="1"| Full Bot
 
−
! scope="row" colspan="1"| Full Bot
 
−
|-
 
−
! scope="row" colspan="3" style="background-color:#BBF7A0" | Testing
 
−
|-
 
−
! scope="row" colspan="1"| State of Franklin Robot Rumble 2023.
 
−
! scope="row" colspan="1"| RoboJackets in house grudge matches.
 
−
|-
 
−
! scope="row" colspan="3" style="background-color:#BBF7A0" | Achievements
 
−
|-
 
−
! scope="row" colspan="1"| Full Bot. Placed 5th at State of Franklin Robot Rumble 2023.
 
−
! scope="row" colspan="1"| Working Weapon. Placed 1st at RoboJackets Grudge Matches 2023.
 
−
|-
 
−
! scope="row" colspan="3" style="background-color:#C2FFA6" | Failures
 
−
|-
 
−
! scope="row" colspan="1"| Weapon assembly. Electronic spacing.
 
−
! scope="row" colspan="1"| Rear pulley and belts.
 
−
|-
 
−
|}
 

Latest revision as of 09:17, 14 January 2024

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

AnomaliV1.7render.bmp
AnomaliSide.bmp

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

AnomaliiCAD.bmp
AnomaliiSide.bmp

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

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 IMG 7062.JPG

Anomalii

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