# Research Poster

Tags: think
Personhours: 10

### Task: Create a poster encompassing all of our calculations from this season

From analyzing the friction coefficient of a variety of different materials, to calculating torque for our various robot sub-assemblies, and creating an equation for our tower-stacking abilities in our autonomous, Iron Reign has seen several different series' of calculations this season. Since these calculations are spread throughout our journal, we have compiled all of them in a single poster for us, and visitors to our pit to refer to at the NTX Regional Championship. Below, you can see how the chart is organized:

#### Torque and Gear Ratios

The first column covers the torque and gear ratios of TomBot's elbow and drive-train. You can read about these calculations in Calculating Torque at the Elbow and Calculating Torque at the Drive-Train which are posts 75 and 78 of the Engineering Section respectively.

The second column also covers torque and gear ratios but this one focuses more on the torque of the turntable and on the logarithmic spiral, a custom-made part by our team to linearly reduce the torque on the elbow. You can read about these calculations in post 79 for the turntable, and 45 as well as 76 for the logarithmic spiral.

#### Materials Testing

The third column focuses on calculating the friction coefficient of various materials like silicone oven-mitts and rubber cement, which we used for our gripper materials. You can find the math behind the decision to use these materials in post 66, 69 and 91 of the Engineering Section.

#### Extend to Tower Height

The final column focuses on a method we implemented in our drive-controls which uses trigonometry to automatically calculate the height needed for the arm to extend to place a stone at a specific tower height. You can read about this method in post 68 of the Engineering Section.

To take a closer look at these calculations compiled together, you can take a look at the chart in the very front pocket, or come visit us in our pits to see a much larger version of this math!

Date | February 9, 2020