Difference between revisions of "Cathi"
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Revision as of 15:55, 2 May 2016
| Cathi | |
|---|---|
| Year Of Creation | 2013-2014 |
| Versions | |
| Current Version | 2.1 |
| Update Year | 2014-2015 |
| Information and Statistics | |
| Weight Class | FeatherWeight |
| Weapon Class | Ring Spinner |
| Wins/Losses | 0/5 |
| ("Temporary") | ("Temporary") |
| ("Temporary") | ("Temporary") |
Cathii is a 30 pound ring spinner robot. Her ring is approximetly 15 pounds and spins around 2500 rpm at top speed. Cathii has be undergoing continual improvements every year since her first competition in 2014.
Contents
Competitions
Motorama 2014
- Results:
- Bracket Style:
Motorama 2015
- Results:
- Bracket Style:
- Results:
- Bracket Style:
- Loss in Featherweight Rumble
Motorama 2016
- Results:
Version
Cathi V1.0
Desgined By: Max Carlson
Cathi was first designed and built during the 2013-2014 school year. Cathi was designed to be a 30 pound invertable ring spinner. During testing and competition, the ring spun up a few times showing the design is feasable. Overall, the design is very well done, however many small improvements must be done.
| Drive Motors | RS-545 |
| Drive Motor Controllers |
Ragebridge 1.0 |
| Weapon Motor |
NTM 5050 |
| Weapon Motor Controllers | TURNIGY K-Force 120A-HV OPTO |
| Reciever | Turnigy |
| Remote Control | Turnigy |
| Battery | Turnigy Nanotech 8s 5000mAh |
Problems:
- Drive Motors are over volted
- Weapon ESCs burned up
- Weapon Belts would bind and stall out the weapon motors
- Overall weight was heavier than the estimated weight(weapon aluminum inserts were removed to account for this)
Future Changes/Improvements:
- Decrease the main robot voltage
- Look into new weapon ESCs
- Redesign weapon motor system
- Use more powerful drive motors
Cathi V1.1
Very little changes occured in this second iteration. The majority of parts were reused, with some being altered.
| Drive Motors | RS 550 |
| Drive Motor Controllers |
RageBridge 1.0 |
| Weapon Motor |
NTM 5050 |
| Weapon Motor Controllers | TURNIGY K-Force 120A-HV OPTO |
| Reciever | Turnigy |
| Remote Control | Turnigy |
| Battery | Turnigy Nanotech 6s 5000mAh |
Problems:
- The RS-550s performed better than the RS-545s, but still burnt up
- The Weapon motor controllers continued to burn up
- The inner pulley diameters were decreased to keep the belts from binding. This resulted in under tensioned belts which failed to transmit the force of the motors.
Future Changes/Improvements:
- Program the Ragebridge/Tranmitter to limit the motor voltage
- Use new weapon motor controllers
- Change the weapon motor system
- Change the weapon mount system
Cathi V2.1
Designed By: Ethan Bisgaard
Cathii was completely redesigned from the ground up. Some of the design goals were reducing the overall weight and accomplishing that overall weight, redesigning the weapon system, and improving the electronics system. When fininshed, the entire robot shrunk by approximetly 1" in diameter and was estimated to be 28 pounds. The actual weight ended up being 29 pounds accomplishing our first goal. For the weapon system, the weapons mounts were completly redesigned, and we switched to a teardrop wheel drive instead of a beld drive. The new weapon mounts are a custom built tapered roller mount which increased the load ratings, while eliminating the friction seen in the previous pulley design. The idea behind the teardrop wheel is similar to a centrifugal clutch; as the weapons spin up, the wheel would expand to contact the inside face of the weapon ring. Both of these designs accomplished our second goal. Finally, we changed the electronics of the robot. For the drive system, we programed the drive controls on the trasmitter for a maximum voltage of 16 volts instead of the max volts of our robot(22 volts). This kept our drive motors from overvolting and burning up. We also used a new weapon ESC, the Toro TS 150a.
Cathii accomplished all design goals set out. All aspects of the robot worked as expected except for the teardrop wheels.
| Drive Motors | RS-550 |
| Drive Motor Controllers |
RageBridge 1.0 |
| Weapon Motor |
NTM 50-50 |
| Weapon Motor Controllers | Toro TS 150a |
| Reciever | Hobbyking |
| Remote Control | Hobbyking |
| Battery | Turnigy Nanotech 6s 5000mAh |
Problems:
- Teardrop wheels exploded under their high speeds and high forces
- The weapon motors burned up either due to high lateral forces on the motor, or prolongedhigh current in the motor.
Future Changes/Improvements:
- Redesign the weapon drive system
Notes:
Cathi(1+i) used smokescreen. Twice.*
