Articles by tag: innovate

Articles by tag: innovate

    The First Launcher

    The First Launcher By Trey and Paul

    Task: Create and Test a Arm Disk Launcher

    One of the centerpieces of any robot this year is going to be the disk launcher. It’s likely that most robots in the competition are going to be built around their launchers, so one could logically conclude that that’s a good place to start when building a robot. This is no different for us; however, we didn’t just want to build a flywheel like...

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    Meeting Log

    Meeting Log July 11, 2020 By Bhanaviya, Jose, Anisha, Paul, Shawn, Trey, Justin, Aaron, Ben, Mahesh, and Cooper

    Talking Heads: Summary July 11, 2020

    Task: Prepare for the 2020-2021 Game Reveal season

    Today kicked off our first meeting for the new Ultimate Goal season. Since the actual challenge for this year hasn't been released, the most we can do is to speculate what the new challenge might pose, and what we can do to prepare for it....

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    TomBot v2- Gripper Triggers

    TomBot v2- Gripper Triggers By Jose

    Task: CAD, 3D print and test new, better, and more aesthetically pleasing gripper triggers

    Since our gripper follows a design similar to a slap-band it needs a trigger to close it, for too long we have used a bent REV beam with screws on the end to hit the nubs of a stone. This proved to be very inconsistent as proven by driver practice before and at regionals since the screws were too...

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    CNC a New Polycarb Robot Base

    CNC a New Polycarb Robot Base By Justin

    Task: CNC a new robot base

    We finished manufacturing our new base today, with very little difficulty, but a few flaws. The CAM was already designed so all we had to do was run the operations on the CNC. We drilled out the various sized holes, cut out the inner wheel slots and cable holes. Next was the groove along the edge to fold the side flaps along,...

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    Meeting Log Post Regionals

    Meeting Log Post Regionals By Anisha

    Task: Get back to work after Regionals

    Alright kids, back to the usual grind now. As Iron Reign came back from regionals taking a lot away from it, we immediately got back to work because we still had a lot to do before being ready for UIL or Worlds.

    Because one of our main weaknesses at regionals was autonomous, our coders came back even more ready than ever...

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    The Revenge of TomBot

    The Revenge of TomBot By Bhanaviya

    Introducing...The Revenge of TomBot!

    A long time ago in a galaxy far, far away there was a robot named TomBot. TomBot was a circle, a spinning circle with a turret and an arm that could extend to glory. Sadly, his reign was not destined for longevity - his cruel creators cut it short before he could enrich the FIRST world with his greatness. But TomBot remained scheming for many, many...

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    The Night Before Regionals - Code

    The Night Before Regionals - Code By Cooper and Trey

    Task: Fix our autonomous path the night before regionals.

    Twas the night before regionals, and all through the house, every creature was stirring, especially the raccoons, and boy are they loud.

    Anyways, it’s just me and Trey pulling an all nighter tonight, such that he can work on build and I can work on auto. Right now the auto is in a pretty decent...

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    Designing a New Build Plate

    Designing a New Build Plate By Ben

    Task: Model and CNC a new build plate for TomBot

    The renowned architect Frank Lloyd Wright once said, “The longer I live, the more beautiful life becomes.” This, however, is not the case for our build plate. Throughout the course of the season the plate has seen extensive use and has endured much abuse, which can be seen in the large cracks forming on the plate. Although there are many temporary remedies,...

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    Updated Bill of Materials

    Updated Bill of Materials By Bhanaviya and Paul

    Task: Update the list of parts for TomBot for regionals

    Being around 2 weeks away from the North Texas Regional Championship, Iron Reign has made significant new changes to its Bill of Materials. s of now, TomBot has several build issues that will be discussed in our post-mortem posts. Part of rectifying these issues includes ordering/printing more parts and editing the bill accordingly. But the beauty...

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    Snapdragon - The Sequel

    Snapdragon - The Sequel By Bhanaviya and Aaron

    Task: Improve the precision of the Snapdragon.

    Last week, we prototyped a new gripper called the Snapdragon. Now it's time to give it more complexity. The Snapdragon is a passively-triggered gripper which closes down on a stone upon an impact-heavy contact with it. The main issue we're focused on solving is the impact which triggers the gripper - the gripper needs to be able to close only...

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    Dissecting the Turret

    Dissecting the Turret By Karina and Cooper

    Task: Figure out why the turntable isn't turning

    Just as Iron Reign was at the point of getting driver practice started and hunkering down to do autonomous, the turntable stopped working. The issue was that there was heavy skipping of teeth between the planetary gear and pinion gear which drove the turntable. Still, there was no obvious reason for why the gears had suddenly disengaged.

    To get to the root...

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    Calculating Torque at the Drive-Train

    Calculating Torque at the Drive-Train By Bhanaviya

    Task: Calculate torque at the drive-train and analyze our choice of motors

    During drive-testing, one issue we noticed was that our robot was not as fast as could be, and in a speed-based game, this is not ideal. So, we decided to calculate torque at the drive-train, which currently runs on two Neverest Classic 40 motors. Currently, we are looking to replace these motors with REV HD Hex...

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    Modeling TomBot Articulations

    Modeling TomBot Articulations By Ben

    Task: Model TomBot's Articulations in Fusion360

    Modeling articulations is important for many reasons. The first of which is being able to effectively strategize. Having an idea of how the robot can move allows the team and drivers to understand the physical limitations of the components as well as enabling the drivers to determine how to control the robot most efficiently. Without such abilities, the drivers would only be able to visualize...

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    Logarithmic Spiral Update

    Logarithmic Spiral Update By Ben

    Task: Update the Logarithmic Spiral

    As the design and build of the robot progresses, many components must be updated to be compatible with the current design. The logarithmic spiral, which was used to linearly decrease the load on the elbow with a bungee cord, is one of these. The article for the original design is numbered as the 45th post in the engineering section and is dated 15-11-2019. Prior to updating...

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    Assembling the Turntable Bevel Gears for a REV Motor

    Assembling the Turntable Bevel Gears for a REV Motor By Trey and Justin

    Task: Assemble the bevel gears to the turntable to fit a rev motor

    Today we assembled a second version of our bevel gear assembly for the turntable. Our previous design used an Andymark motor, which was very fast but couldn't provide enough torque for precise movement. The custom geared REV motors allow us to power the turntable with our desired torque. This is further explained...

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    Sliding Foundation Grabber

    Sliding Foundation Grabber By Trey, Jose, and Aaron

    Task: Design and create a more efficient and compact foundation grabber

    Moving the foundation throughout a match is an important part of the overall gameplay of a team. The builders on Iron Reign went through many different designs before reaching the one we have now. Early in the season, we simply settled for a simple hook attached to a servo on the front of the robot; however,...

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    Finger Gripper Version 4 CAD

    Finger Gripper Version 4 CAD By Jose

    Task: CAD a slightly different capstone version to improve upon v3's issues

    On this minor update to our flat gripper design a dropper for the latest capstone was added. Our capstone design (which can be seen here: E-65 ) is minimalistic to allow it to be placed on the gripper and only deployed until the last stone in the match is placed to cap it....

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    Capstone Iterations

    Capstone Iterations By Bhanaviya

    Task: Go over all 3 of our capstone iterations

    So far, we have experimented with 3 capstone models. While we do not intend to use all 3 of these models, they allowed us to effectively implement the engineering process on our robot. Although the capstone isn't physically a part of a robot, its various iterations influence the model of the gripper being used since the ideal gripper must be able to pick up both...

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    Capstone Version 3

    Capstone Version 3 By Jose

    Task: Design a minimalistic capstone that can be deployed by the stone gripper

    This version of our capstone is to be 3D modeled and printed as well as be as compact as possible to be deployed by the gripper. The basic idea is that the capstone is flat while meeting the minimum size for length and width. The capstone will be an 'I' shape to fit around the nubs of a...

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    Creating a Robot Handle

    Creating a Robot Handle By Paul

    Task: Create a handle for the robot to make it more inspection-worthy

    The robot handle is a revolutionary piece of precision engineering, designed to allow the robot to lifted by a carbon-based linear motor, known as a human arm. The handle is made of a composite material, consisting of a matrix of polyurethane fibers surrounded by a carbon-based synthetic thermoplastic polymer sheath. This cording material shall henceforth be known as “Bungee cording”....

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    Finger Gripper Version 3 CAD

    Finger Gripper Version 3 CAD By Jose

    Task: Design a more comapct and efficient gripper design

    This version of the finger gripper is going to be mostly custom made to make it as simple and as compact as possible. This is just the CAD model of the actual design and we plan to update a little more before we can actually make the physical change on the actual gripper. The design remains the same but the...

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    Adding to TomBot model

    Adding to TomBot model By Ben

    Task: Update the current robot model

    Prior to updating the model, the model purely consisted of the chassis and the primitive turntable. Since then, both the turntable and chassis have been updated to reflect the current state of the robot, along with the addition of the elbow and slide. The elbow component consists of GoBILDA shafts, gears, and connectors, along with the logarithmic spiral. The elbow can be seen below.

    ...
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    Finger Gripper Version 2

    Finger Gripper Version 2 By Jose

    Task: Design a swivel and add ninjaflex parts to improve the finger gripper

    From what we learned at the Allen Qualifier the gripper needs some major improvements before it will work at its max performance. The first change that needs to be made is replacing the current grip material with some more flexible material, such as ninja flex which we have used before as a gripping material. The print...

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    Swivel Mount

    Swivel Mount By Aaron

    Task: Design a swivel mount to improve the degrees of freedom on the gripper

    After the recent competition, we realized that a good way to increase precision would be to add, of course, another axis of rotation. This was the most efficient way to be more precise and pick up a stone from all angles. With a swivel mount, the gripper would be able to rotate on the y axis, via a...

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    Drive Issues at Allen Qualifier

    Drive Issues at Allen Qualifier By Justin, Karina, Jose, and Aaron

    Task: Identify points of improvement after driving at Allen

    While using our untested code and inexperienced drivers at the Allen STEAM Center this weekend, we encountered many issues while driving. Our biggest issue was with the turntable, which bugged us the whole day. First it was really slow, then it turned but after a 3 second delay, then we finally made it driveable but it turns to...

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    Build Post-Mortem

    Build Post-Mortem By Bhanaviya and Aaron

    Task: Begin analyzing long-term build improvements

    Moving on from the Allen qualifier, there are a couple issues we need to fix. Aside from the usual wear and tear a robot experiences in it’s relatively short life-span, there are some specific opportunities we have for optimal robot performance which we hope to act upon.

    First, our grippers don’t have enough degrees of freedom to rotate fully. Being able to rotate gives...

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    Night Before Competition Build

    Night Before Competition Build By Aaron, Cooper, and Trey

    Task: Transform a mass of metal into a functional something in the span of one night in time for the qualifier tomorrow.

    Twas the night before competition and the robot was most definitely not competition ready. This is what usually happens, but once again we found ourselves scrambling around to get everything together before the end of the night. We ended up mounting the gripper, setting up the belts,...

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    Morph Chart

    Morph Chart By Bhanaviya

    Task: Create a morph chart to analyze all our designs so far in this season.

    Iron Reign has seen several iterations of several subsystems over this past build season. With our first qualifier being 2 days away, its finally time to come full circle and identify the different iterations of different subsystems coming together. To do this, our team used a morph chart. A morph chart shows the various...

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    Linear Slides on TomBot

    Linear Slides on TomBot By Justin

    Task: Mount linear slides to the robot.

    Today we focused on getting the arm and linear slide ready to be powered up. Our first task was to move down one of the stages of the linear slide to align the slides. We also adjusted where the carriage stops to further align the slides.

    Next, we began to run the belts through the pulleys. We needed to run the belts...

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    Woodrow Scrimmage

    Woodrow Scrimmage By Trey, Bhanaviya, Ben, Jose, Justin, Aaron, Karina, Cooper, and Paul

    Task: Compete and work on TomBot at the scrimmage at Woodrow HS.

    This Saturday Iron Reign attended a scrimmage at Woodrow High School. Woodrow offered a variety of activities that improved the capabilities of our team like for example, the mock judging sessions. Our session gave us insight into how our judging presentation needed to be reformed and cut down to fit into...

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    Mounting the Slip Ring

    Mounting the Slip Ring By Aaron

    Task: Mount a slip ring onto TomBot's chassis

    On our robot we have a turntable in order to increase the degree of precision at which we can maneuver skystones. We have one REV Hub under the base of the bot, and one on top of the turntable. This means, however, that we need 360 degrees of rotation between the two Hubs. Our solution to this problem was to use a slip ring....

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    CNC Turntable Mounts

    CNC Turntable Mounts By Justin

    Task: Model and CNC way to mount the turntable to the chassis

    Today we worked on creating a 3d model for a CNC cut part to mount the turntable to the chassis. Since the turntable already has bolts sticking out of the bottom, we decided to use those as mounting points for our part. The most efficient solution to mounting the turntable is to cut a plate that attaches to the turntable bolts...

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    Gripper Iterations Summary

    Gripper Iterations Summary By Bhanaviya

    Task: Go over our 9 gripper iterations

    This season, we experimented with 9 gripper models - both for our robot in three days project and for our competition bot. While we do not plan on using all 9 of these models, they allowed us to effectively implement the engineering process within our build season. Experimenting with each gripper helped us to identify the potential of each design as well as how two...

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    3-Fingered Gripper

    3-Fingered Gripper By Jose and Aaron

    Task: 3D Model and build an 8th gripper design

    As our 8th gripper design we are trying out a compact design known as the 3-fingered gripper. This was 3-D modeled before being built as a proof of concept. The back of the gripper has two bars to orient the stone before being grabbed. One bar contacts the stone and the other does too as TomBot continues to approach it. The actual grip...

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    Turn-table Assembly

    Turn-table Assembly By Aaron and Trey

    Task: Finish assembling the turn-table

    During today’s meeting, we were able to complete the mounting of the pinion motor assembly to the turntable. This included drilling out holes and routing out a square in the polycarbonate disk that we are using as a base for mounting. We also rebuilt the pinion mechanism and implemented it into a smaller configuration.

    The idea with the turn-table...

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    Stub Gripper

    Stub Gripper By Jose

    Task: Building gripper iteration #7

    As our 8th gripper design we modeled a stub gripper, inspired by 7129’s Ri30H. Several of our previous grippers were designed with the intention of being mounted our scrimmage/Robot in 2 Days bot Frankendroid. This is our first gripper design modeled with the full intent of being mounted on our circular chassis bot, TomBot. In essence, this gripper has some bars to align the gripper...

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    Round Chassis Assembly

    Round Chassis Assembly By Justin, Trey, and Jose

    Task: Attatch Omni wheels to Round Chassis

    Today we finished assembling the round chassis for our circle robot, TomBot. The most important system we added was the omni wheels to the front and rear of the robot. Without the omni wheels, the robot would tilt like a seesaw around the central 2 big wheels. These omni wheels lightly touch the ground in the front and rear of the robot to...

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    Updating TomBot's model

    Updating TomBot's model By Bhanaviya and Ben

    Task: Update the model to plan TomBot's build

    With our first qualifier being less than a month away, Iron Reign embarked on an ambitious project to create a robot with a circular chassis named TomBot (which was, for reference, named after our coach's cat, Tom). Before we began the build of the robot, we planned out the chassis design in an earlier post on CAD. Now, with...

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    TomBot Suspension

    TomBot Suspension By Ben

    Task: Design a suspension for TomBot

    3 Different iterations of the passive suspension.

    We've decided to design a suspension for our circular chassis for one reason. Under the neutral bridge, there is a 15mm lip on the floor plate to connect the bridge support. Traveling over this plate can cause significant depreciation of the chassis and connected subsystems.

    We have currently made 3 different versions of possible prototypes. We will...

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    Autonomous and TomBot Robot

    Autonomous and TomBot Robot By Karina, Jose, and Bhanaviya

    Task: Autonomous coding and TomBot progress

    DISD students have been blessed with a long weekend, which we plan to take full advantage of as our first scrimmage is closing in. Just as we started to test drive Frankendroid, we began to notice some faults with the robot. Lots of these were common errors, which can likely be attributed to the fact that we sped through the...

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    Gripper Testing

    Gripper Testing By Paul and Justin

    Task: Test block gripper

    Here is us testing the gripper we designed to pick up the blocks in this years SkyStone challenge. This gripper combines the Pivoting Accelerated User-Friendly Locker, P.A.U.L, one of our earlier gripper designs, and Aaron's Super Cool Gripper, a design from our Robot in 2 Days Challenge. It has a backplate similar to that of P.A.U.L's but instead of polycarb flaps, it utilizes the smaller...

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    Fixing the Mechanum Chassis

    Fixing the Mechanum Chassis By Cooper

    Task: Fix the old mecanum chassis from last year

    Tonight, I worked on fixing the Iron Star robot from last year, since its a viable option for replacement of a chassis if there was ever a problem with ours at a competition. First we needed to strip it down to its bare form and take off the mecanum wheels. After that we took off the Tetrix axle holding blocks,...

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    P.A.U.L

    P.A.U.L By Aaron

    Task: Design a new intake system

    The Pivoting Accelerated User-friendly Locker

    After the end of the two day robot build, we had come up with two main gripper designs. One was consistent, however heavy and large, (Wheel Gripper) and one was lighter but wasn’t quite as versatile or controllable (Aaron's Super Cool gripper That Worked 100% of the Time). P.A.U.L (Pivoting Accelerated User-friendly Locker) is the best of both worlds....

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    Robot in 2 Days Grippers Comparison

    Robot in 2 Days Grippers Comparison By Jose and Bhanaviya

    Task: Analyze all our grippers from the Robot in 2 Days challenge

    During the making of our Ri2D we prototyped and designed several gripper designs to collect stones. These designs varied in the method of manipulating the stone, how many servos they required and how compact they are. All of these gripper designs have their own post describing them in...

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    Robot in 2 Days - Day Two

    Robot in 2 Days - Day Two By Bhanaviya, Aaron, Cooper, Jose, Ben, and Paul

    Task: Finish Robot in 2 Days

    Since the reveal was released yesterday, Iron Reign embarked on a project to build a skystone-specific robot in 2 days. Yesterday was a planning ground, during which we began prototyping 4 robot grippers, and 2 chassis designs. With less than 24 hours to complete our robot, we started today off by getting build-specific decisions out...

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    Parallel Gripper

    Parallel Gripper By Ben

    Task: Prototype a parallel gripper

    While there are many different solutions and gripper designs, one of the most common is the parallel gripper. The purpose of a parallel gripper is to grip objects, in our case stones, parallel to the object instead of at an angle. Since this was a rational idea to start off with, this was one of the gripper designs we experimented with in the duration of our Robot in...

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    Rack and Pinion Gripper

    Rack and Pinion Gripper By Cooper and Aaron

    Task: Build a gripper system for the 2019-2020 Skystone Challenge

    The rack-and-pinion gripper system is one of the 4 gripper systems we built this weekend for our Robot in 2 Days project. Since we’ve never used a rack-and-pinion system before, we realized that it would be a creative idea to start off the new season. Going for simplicity, we made a box such that we...

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    Robot in Two Days - Day One

    Robot in Two Days - Day One By Karina, Bhanaviya, Aaron, Jose, Ben, Trey, Cooper, Sam, Sterling, Beau, Mahesh, and Shawn

    Task: Build prototype subsystems that pick up the stone elements

    This season Iron Reign decided to take on the robot-in-two-days challenge. Given that our team had never done this before, and we are primarily a team of underclassmen, we knew we would have to be organized in our efforts and that we would probably reuse...

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    Wheel Gripper

    Wheel Gripper By Jose and Trey

    Task: Design an intake for the stones based on wheels

    Initial Design: Rolling Intake

    The first idea we came up with for gripper designs during our Robot in 2 Days (Ri2D) challenge was a rolling intake with the wheels coming from the top and spinning to intake the stone. Since the wheels needed to spin they were placed on shafts which required two extrusions since the pillow bracket for them...

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    Aaron’s Super Cool Gripper That Works 100% Of The Time

    Aaron’s Super Cool Gripper That Works 100% Of The Time By Aaron

    Task: Prototyping a rolling gripper

    During the 2 day robot challenge, one of the gripper designs that we built on the first day was Aaron’s Super Cool Gripper That Works 100% Of The Time. While it did work most of the time, it was a bit too bulky to be implemented effectively in the two day period we had.

    The...

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    Fixing Mini-Mech

    Fixing Mini-Mech By Cooper

    Task: Fix Mini-Mech in time for the Skystone reveal

    In two weeks, Iron Reign is planning on building a robot in 2 days, based on the 2019-2020 Skystone Reveal Video. We've never really built a robot in that short span of a time, so we realized that preparing a suitable chassis ahead of time will make the challenge a lot easier as it gives us time to focus on specific subsystems and code....

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    SuperMan Wheel Fix

    SuperMan Wheel Fix By Jose

    Task: 3D model a fix for Superman using Fusion 360

    During the Discovery Faire Icarus' Superman wheel broke as the gears were skipping, rendering most robot articulations useless. For reference, Icarus was our robot for the 2019 World Championship and the Superman wheel is a mecanum wheel fixed to the base of the robot that, when extended, allows the robot to stand upright to a height of approximately 5 feet. The problem was the...

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    Leg Drive Prototype

    Leg Drive Prototype By Jose

    Task: Prototype a Leg Drive for next year's (possible) stacking game

    Although most teams go for a traditional chassis, a different type may be needed for next season as speculations suggest a stacking game. A leg drive would be an apt idea to test out for such a game For this chassis, two motors spin their respective "leg" attached to a gear. The point is move the robot using the rotation...

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    Meeting Log

    Meeting Log June 08, 2019 By Bhanaviya, Jose, Anisha, Paul, Shawn, Trey, Justin, Aaron, Ben, Mahesh, and Cooper

    Talking Heads: Summary June 08, 2019

    Task: Prepare for the 2020-2021 Game Reveal season

    Today kicked off our first meeting for the new Ultimate Goal season. Since the actual challenge for this year hasn't been released, the most we can do is to speculate what the new challenge might pose, and what we can do to prepare for it....

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    Meeting Log

    Meeting Log June 08, 2019 By Bhanaviya, Jose, Paul, Aaron, Ben, Evan, Trey, and Justin

    Meeting Log June 08, 2019

    Task: Prepare for the 2019-2020 Skystone season

    Today kicked off our first meeting for the new Skystone season. Since the actual challenge for this year hasn't been released, the most we can do is to speculate what the new challenge might pose, and what we can do to prepare for it.

    Recruitment

    With...

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    Ninja Flex Intake V2

    Ninja Flex Intake V2 By Jose, BenB, Karina, Evan, Abhi, Ethan, Charlotte, and Aaron

    Task: Design, implement, and test a newer version of the ninja flex intake

    The new ninja flex intake is good, but it has room for improvement. One issue is that it is too big and minerals have some problems entering the intake tray, Another issue is that the spacing of intake gears is too much and cuases minerals to be intaked slower....

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    Machining Gears for Superman

    Machining Gears for Superman By Ethan and Justin

    Task: Machine replacement gears for Superman

    Shortly after creating the new Tetrix gear system, we got a response from one of the CNC shops we'd reached out to, offering to machine the 15 and 125-tooth REV gears from the STEP files. So, we took the Superman system off of our old robot, BigWheel, and sent some of the broken 15-tooth gears from UIL.

    In response, the...

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    Intake Update

    Intake Update By Ethan

    Task: Custom design an intake to improve intake times

    In testing, we found that the intake didn't perform adequately - the balls would slide back out in the inverse articulations. So, we designed attachments for the corn-cob intake out of ninjaflex, figuring that small tabs would hold the minerals in better. It failed - they were too compliant - but we found it was much easier to intake minerals than before due to...

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    New Superman Arm

    New Superman Arm By Ethan and Evan

    Task: Redesign the Superman arm to be more robust for Worlds

    In posts E-116, we found that we were putting pressure on the individual teeth of the Superman gears on the order of mPa. We designed gearkeepers to ensure that the gears would interlock and reduce pressure, and these worked for awhile. However, under tournament pressures at UIL, the teeth on the smaller gears broke entirely - between the teeth...

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    Intake Flappers

    Intake Flappers By Jose, Evan, and Abhi

    Task: Design and test intake flappers to speed up mineral intake

    Due to our new intake articulation involving the superman wheel the ice cube tray intake is slightly too elevated to intake minerals. To fix this we designed small flappers out of ninja flex(the Iron Reign way) to help the intake reach further. Tests prove this intake to be quicker than the ice cube tray alone and it should...

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    Wiring Icarus

    Wiring Icarus By Jose, Abhi, Evan, and Aaron

    Task: Wire Icarus to be functional and move utilizing code

    With the construction of Icarus nearing completion we need to start connecting wires from the motors and servos to the REV Expansion Hubs before it becomes impossible to do so.

    • As soon as the expansion hub were placed on the chassis, servo wire extenders were connected before anything blocked us from doing so
    • We used custom sized wires to avoid a mess...
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    Icarus' Arms

    Icarus' Arms By Evan, Aaron, and Ethan

    Task: Install intake arms

    Since the last post, in which we installed the Superman Arm, we've installed the second stage of the linear lift and the belt drive that accompanies it. We began by drilling two holes in the linear slides that were exactly the space between the holes on the carriages for the linear slides using a drilling template we printed on the Tazbot printer. We did this to...

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    Reverse Articulations

    Reverse Articulations By Abhi

    Task: Summary of Icarus Movements

    In post E-116, I showed all the big wheel articulations. As we shifted our robot to Icarus, we decided to change to a new set of articulations as they would work better to maintain the center of gravity of our robot. Once again, we made 5 major deployment modes. Each articulation is necessary to maintain the robot's center of gravity as its mode of operation shifts.

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    Icarus' Superman Arm

    Icarus' Superman Arm By Evan, Aaron, and Ethan

    Task: Design and install a lifting arm for Icarus

    At the same time as the elbow joint was being done (which can be found in the article "Constructing Icarus' Elbow”) the Superman lift was being installed in the back half of the robot. The old superman system was difficult to install, but we designed it to be slightly easier. Mounting brackets were already pre-set in the robot so we...

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    Constructing Icarus' Elbow

    Constructing Icarus' Elbow By Evan, Aaron, and Ethan

    Task: Build the elbow for intake

    In the last Icarus' blog post, it was just getting the basic flat, support frame of the robot. The next step in the construction of Icarus' is the elbow joint that holds the intake. This time around, we simplified everything significantly as compared to BigWheel, reducing the excessive aluminum parts to two 3D printed parts. We attached these to the REV rail that...

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    New Elbow

    New Elbow By Justin

    Task: Design an elbow for bigwheel that we can 3d print

    To speed up the build process of the new robot, we made a 3D printable part of the elbow joint. The design simplifies the complex assembly of the elbow mounting point and makes it a single printable part. The old elbow contains many different parts that would need to be spaced precisely in order for the gears to mesh properly, while...

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    Finishing Icarus' Base

    Finishing Icarus' Base By Evan, Aaron, and Ethan

    Task: Perform the final steps to complete Icarus' base

    Since we finished the polycarb base, our robot went through some major changes. We last left our robot in the post-bend stage, just a piece of polycarbonate. The first thing we did was to square the whole robot with side brackets. These cleanly ripped aluminum C channel side brackets now serve as the highly accurate frame of our robot, which...

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    New Robot Base - Icarus

    New Robot Base - Icarus By Evan, Justin, Aaron, and Ethan

    Task: Build the base for the new robot

    Since BigWheel was never intended to be a competition robot, we decided to build an entire new robot based off of it. This means that the base plate of the robot is going to have to be the most accurate part of the robot since everything after that has to be built upon it. To do this,...

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    VEX 393 Motor Testing

    VEX 393 Motor Testing By Jose, Cooper, Aaron, and Janavi

    Task: Test VEX Motor 393 as a faster servo for intake

    We need to speed up our intake to spend less time in the crater collecting minerals. We can accomplish this using VEX 393 Motors with high speed gears integrated, these motors are great since they count as servos, not motors. In terms of progress, this is what we did:

    • Tested VEX Motor 393 with servo...
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    Road to Worlds Document

    Road to Worlds Document By Ethan, Charlotte, Evan, Karina, Janavi, Jose, Ben, Justin, Arjun, Abhi, and Bhanaviya

    Task: Consider what we need to do in the coming months

    ROAD TO WORLDS - What we need to do

     

    OVERALL:

    • New social media manager (Janavi/Ben) and photographer (Ethan, Paul, and Charlotte)

     

    ENGINEERING JOURNAL: - Charlotte, Ethan, & all freshmen

     

    • Big one - freshmen get to start doing a lot more

     

    ...
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    Up-to-Date Bigwheel Model

    Up-to-Date Bigwheel Model By Justin

    Task: Finish the Bigwheel model

    Updating the Bigwheel model to the robot’s current configuration was a challenge. The new linear slides are not standard parts, so we had to model them from scratch. There was some cleaning up that was needed on the drivetrain of the model. This was mainly attaching floating motors to motor mounts and axles to bearings. These were mainly cosmetic changes, but they help define the purpose of...

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    Big Wheel Articulations

    Big Wheel Articulations By Abhi

    Task: Summary of all Big Wheel movements

    In our motion, our robot shifts multiple major subsystems (the elbow and Superman) that make it difficult to keep the robot from tipping. Therefore, through driver practice, we determined the 5 major deployment modes that would make it easier for the driver to transition from mode to mode. Each articulation is necessary to maintain the robot's center of gravity as its mode of...

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    Latch Designs - A Retrospective

    Latch Designs - A Retrospective By Ethan

    Task: Analyze past successes and failures in our latching system

    Version 1

    The first version of the latch worked decently. We started out with the idea of a one-way, passive latch. This idea involved mounting smaller bearings and gears between them, with a spring-like nylon piece that moved only when downward pressure was placed upon the gears. This design was only fully realized before the Wylie Qualifying tournament, and only...

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    Elbow Rebuild

    Elbow Rebuild By Ethan, Jose, Karina, and Ben

    Task: Rebuild the elbow after total gear annihilation

    In a previous post, we detailed the extent to which we had stripped our gears - they were missing teeth in several places and the black anodization layer had completely stripped away. So, we had to replace them. The first order of action was to design gearkeepers for them. We've designed gearkeepers before, for the Superman arm, but these have different...

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    Bigwheel Model

    Bigwheel Model By Justin

    Task: Design and update the Bigwheel Model

    We are updating our bigwheel model to represent our current robot. We had a model of just the chassis from the chassis study, so we are currently adding all of the changes we made throughout the season.

    Completed Changes

  • Added current intake
  • Added sorting system
  • Modeled the linear slide lift
  • Modeled superman arm
  • Future Changes

    The lift has been changed recently...
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    Latch 2.0 - Forged in Flame

    Latch 2.0 - Forged in Flame By Evan

    Task: Design a new latch for hanging

    Our latching system is too complicated to use quickly; it requires too much reliance on driver control and becomes jammed. So, we forged an iron hook to replace it. We started by taking an 8mm iron rod and placing it into the forge that we have, heating it up and bending it into shape over the course of an hour. We...

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    Fixing Mineral Dropper Components

    Fixing Mineral Dropper Components By Jose and Evan

    Task: Fix any issues with the mineral dropper

    At the STEM expo we saw a clear issue with the mineral dropper: it is very poorly geared and doesn't deposit minerals well. A quick look at the gear configuration revealed that the gears were attached in a poor manner such that there was a lot of gear skippage. To remedy this, we attached a gear-box to the dropper to keep the gears interlocked.

    ...
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    Latch V.3.5 Assembly

    Latch V.3.5 Assembly By Ben

    Task: Assemble the V.3.5 latch and attach to the robot

    We assembled the fourth version of the latch today. Some of the improvements on this latch include using bigger bearings and thrust bearings inside. This latch is designed to be stronger and more reliable. After cleaning the parts and trimming some edges, we assembled the pieces. Upon assembly, we discovered an issue: the gears required a different amount of pressure to catch the lock. If left...

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    Gearkeepers

    Gearkeepers By Jose and Evan

    Task: Create and install gearkeepers to reduce slippage

    We need to install gearkeepers on the Superman arm to prevent gear skippage which damages gears over time. We designed a simple rectangle in PTC Creo and cut holes to fit bearings, 3D-printed them, and attached them.

    Now it was time to test for gear skippage. Unfortunately, we had one or two gear skips with every attempt of...

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    Latch Updates

    Latch Updates By Justin, Abhi, and Ben

    Task: Update the latch

    Our first attempt at a latch was made out of flat metal L brackets that would slide into the hook, but they slid off under any stress. We decided to make a latch with a ratchet and sprocket system. The easiest way to accomplish this was to 3d print it. There are two sprockets and the lander hook will slide in between them. This causes...

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    Belt Drive

    Belt Drive By Evan and Karina

    Task: Install a belt lift on our robot for depositing

    The most recent addition to BigWheel has been the addition of a belt drive lift on either side of the linear slides. We chose a belt lift over a string and pulley lift because it is a much more secure, closed system, and doesn’t require stringing. For these reasons, we switched to belt drive. While more complicated to build, it requires...

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    Latch Model

    Latch Model By Abhi and Justin

    Task: Model and print the Latch

    Early in the season, we made a hook, Although it was durable, it required a higher amount of precision than we would have liked to have, especially in the rushed last seconds of the endgame. As a result, we designed a latch that is completely 3D printed and placed it on the robot.

    This is the general model of it fit together (excluding left panel)....

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    Modeling Slide Barriers

    Modeling Slide Barriers By Kenna

    Task: Create barriers to prevent the linear slide from falling

    Recently, we added polycarb barriers to our linear slide system. They were created as a temporary measure by bending the polycarb with a blow torch and are less exact than we would like.

    I originally tried to overlap 3 rectangles, and Creo didn't register it as an enclosed shape and wouldn't extrude. For any geometric shapes you want to extrude,...

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    BigWheel Arm Locks

    BigWheel Arm Locks By Evan

    Task: Create locks to keep BigWheel's intake arms in an extended position

    An important part of this year's challenge is scoring minerals in the lander. Additionally, our upright elbow cannot raise the scoring mechanism to the lip of the lander alone. Thus, we had to create a way to get those additional inches to score.

    First, we tried a REV linear slide design. This worked, but...

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    Selecting Intake System

    Selecting Intake System By Janavi

    Objective: Determine the type of intake system that will allow us to efficiently obtain and deposit minerals within the lander

    In our post "Selecting Lift System" we decided that the linear slide system that we will use is the MGN12H rails also referenced to as the Ball-Bearing slides. These slides while heavy provide the smoothest option. now that we have chosen the Lift system we need to determine the intake system that will allow us to...

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    Arm Repairs

    Arm Repairs By Evan and Abhi

    Task: Fix elbow and Superman

    This is a follow up to Post E-64, Code Issues Break the Superman Arm. We made some hustles and got them fixed. We reinforced Superman by ganging up multiple gears (as seen above) and repeated a similar process with the elbow arms. Hopefully this will make BigWheel more secure, especially with software limits in the code.

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    Code Issues Break the Superman Arm

    Code Issues Break the Superman Arm By Abhi

    Task: Analyze the code issues that led to our robot breaking

    After constant use, our robot's Superman arm broke. At this point, it is important to analyze our failures. This error was not because of a build issue but rather a code and driver control issue.

    When testing, we always heard the gears grinding some times and we thought it wasn't an issue. There were instances like once when...

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    Selecting Lift System

    Selecting Lift System By Janavi

    Objective: Determine the type of lift system will allow us to delatch and reach the lander

    In our past post Choosing Drive Train we decided that we will use the chassis BigWheel. After deciding the base we need to now think about the lift system that we want to use to allow us to both deposit into the lander and latch onto it. Evan and I have been experimenting with linear slides to use for our...

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    Chassis Mark Two Planning

    Chassis Mark Two Planning By Ethan

    Task: Plan a new BigWheel chassis

    Our next tournament is a while away, in about two months. So, we have a little bit of time to redesign. And, our current chassis has plenty of faults.

    Our original BigWheel base.

    First and foremost, our chassis was built for a testing competition, not to be a full fledged competition robot. As such, it's a little lacking in...

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    BigWheel Upgrades

    BigWheel Upgrades By Evan

    Task: Get BigWheel ready for the tournament

    Today, we built mounts to attach both types of intake to the rack; the rack-and-pinion corncob intake and the red-flapped intake. We also created a new way of mounting the arm to the chassis. The idea is that since it’s attached to the rack and pinion track, it reaches high enough for the robot to put the minerals in the lander. We made the arm with a 12-86 gear ratio....

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    Torque Calculations

    Torque Calculations By Karina

    Task: Calculate the torque needed to lift chassis

    After seeing how well the robots that could latch onto the lander performed at the scrimmage, Iron Reign knew that we had to be able to score these points. We originally tried lifting with a linear slide system on MiniMech, but it was not strong or sturdy enough for the small chassis, and would definitely not be a functional system on BigWheel in time for competition. And so we...

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    BigWheel Arm

    BigWheel Arm By Evan

    Task: Design an arm for BigWheel

    Bigwheel’s intake arm is one of the most important parts of the robot. Since our scrimmage, we have learned how to make this arm much more efficient, starting with some supports. The original intake arm was made of two scrap Tetrix rails. The result of this was that the two sides of the arm would be out of sync, creating a twist in the arm that caused...

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    Intake Update

    Intake Update By Ethan, Abhi, Justin, and Kenna

    Task: Update the intake for the new robot size

    We created the corn-cob intake a few weeks ago. Unfortunately, it was a little too big for the Minichassis, so we had to downsize. So, we designed Intake Two. Continuing our history of using kitchen materials to create robot parts, we attached two silicone oven mitts to a beater bar equipped with Iron Reign's REVolution system. Then, we attached a...

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    Mini Mecanum Chassis

    Mini Mecanum Chassis By Janavi and Justin

    Task:

    Over the summer, we designed many robots for the North Texas Chassis Project, including one based off of last year's Worlds robot, Kraken. The robot chassis had 6" mechanums. But, based on what we know about this years challenge we have decided that this chassis does not utilize the 18-inch cube effectively.

    We have chosen to design a chassis that is similar in function to Kraken, but smaller...
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    BigWheel+

    BigWheel+ By Evan

    Task: Continue work on BigWheel

    BigWheel has gone through a few major changes. First and foremost, it now has a flipper arm, AKA Superman. Since the robot itself is the lift mechanism, we had to put a lot of work into Superman's design. Right now it is a 10 inch REV rail attached to two 125-tooth gears for redundancy, with a custom 3D printed mount housing an pair of omniwheels on the other...

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    Intake Sorter

    Intake Sorter By Abhi

    Task: Design a sorter for the balls and blocks

    To increase the efficiency of our robot, we looked into ways to passively sort minerals during intake and deposit. It is important to sort because it requires less precision under driver control allowing a faster and more efficient robot. Though bulky, we designed an initial design to sort the minerals.

    When this piece is mounted and both blocks and balls are...

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    BigWheel Chassis

    BigWheel Chassis By Evan

    Task: Work on a possible chassis

    We've been toying around with the idea of using BigWheel, our Summer Chassis Research Project bot, in this year's competition with a few modifications. The idea for this robot is that it has a collection system that extends into the crater, and folds up on top of the robot. It reaches in with the collection arm, and grabs the blocks/glyphs, drives backwards and flips vertically using the drive wheels as a...

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    Chassis Brainstorming

    Chassis Brainstorming By Ethan and Evan

    Task: Brainstorm chassis designs

    At the moment, we've used the same chassis base for three years, a basic mechanum base with large wheels. However, we don't really want to do the same this year. At the time, it was impressive, and not many teams used mechanum wheels, but now, its a little overdone.

    Thus, we have BigWheel. We used this as a practice design, but we ended up really...

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    Brainstorming Two

    Brainstorming Two By Evan, Abhi, and Janavi

    Task: Have a 2nd brainstorming session

    We had another brainstorming session today, which allowed us to break down into some new building tasks.

    Intake System 3 - TSA Bag Scanner

    This part of our robot is inspired by the bag-scanning machine in TSA lines, more specifically the part at the end with the spinning tubes. The basic design would be like a section of that track that flips over the top of...

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    Selecting Wheels

    Selecting Wheels By Janavi

    Objective: Determine the type of wheel that best suits the chassis

    In the Choosing Drive Train E-16 we decided that we will use the chassis BigWheel. We know that our wheels need to be light weight but we need to determine the size of the wheel that will keep our robot far away enough from the ground for us to provide enough clearance to allow us to climb over the crater rim. But, if we choose wheels...

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    Choosing Drive Train

    Choosing Drive Train By Janavi

    Task: Analyze the game

    In our last post, we created a chart where we listed each task asked based on point value and the level of difficulty, separated by autonomous and teleop. Our goal is to find a drive train that will allow us to build a robot to accomplish all of these tasks efficiently and consistently, but this matrix will allow us to determine what to focus on first.

    Drivetrain Comparison

    This summer...

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    Testing Intakes

    Testing Intakes By Ethan and Evan

    Task: Design a prototype intake system

    In our first practice, we brainstormed some intake and other robot ideas. To begin testing, we created a simple prototype of a one-way intake system. First, we attached two rubber bands to a length of wide PVC pipe. This worked pretty well, but the bands gave way a little too easily.

    For our next prototype, we attached a piece of cardboard with slits to...
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    Rover Ruckus Brainstorming & Initial Thoughts

    Rover Ruckus Brainstorming & Initial Thoughts By Ethan, Charlotte, Kenna, Evan, Abhi, Arjun, Karina, and Justin

    Task: Come up with ideas for the 2018-19 season

    So, today was the first meeting in the Rover Ruckus season! On top of that, we had our first round of new recruits (20!). So, it was an extremely hectic session, but we came up with a lot of new ideas.

    Building

    • A One-way Intake System

    • This suggestion uses a...
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    Position Tracking

    Position Tracking By Abhi

    Task: Design a way to track the robot's location

    During Relic Recovery season, we had many problems with our autonomous due to slippage in the mecanum wheels and our need to align to the balancing stone, both of which created high error in our encoder feedback. To address this recurring issue, we searched for an alternative way to identify our position on the field. Upon researching online and discussing with other teams, we discovered an...

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    Big Wheel Ideas

    Big Wheel Ideas By Janavi

    Task: Create a Unique Chassis

    This summer, we're working on creating unique chassis that are outside of our comfort zone. Often we choose safe bases - opting for ones that we have tried in the past and know work. But, taking the opportunity to explore unique bases allows us to see their performance. One of our ideas is for a two-wheeled robot, with two large wheels and one, smaller, non-motorized omniwheel. We think that...

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    Swerve Drive Prototype

    Swerve Drive Prototype By Abhi and Christian

    Task: Build a Swerve Drive base

    Over the past week, I worked with Christian and another member of Imperial to prototype a drive train. Due to the limited resources. we decided to use Tetrix parts since we had an abundance of those. We decided to make the swerve such that a servo would turn a swerve module and the motors would be attached directly to the wheels.

    Immediately we noticed it was...

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    Swerve Drive Experiment

    Swerve Drive Experiment By Abhi

    Task: Consider a Swerve Drive base

    Last season, we saw many robots that utilized a swerve drive rather than the mecanum drive for omnidirectional movement. To further expand Iron Reign's repertoire of drive bases, I wanted to further investigate this chassis. Swerve was considered as an alternative to swerve because of its increased speed in addition to the maneuverability of the drive base to allow for quick scoring due to its use of traction wheels at...

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    Relic Recovery Reveal Video

    Relic Recovery Reveal Video By Abhi and Austin

    Task: Publish Robot Reveal

    After a season of work, Iron Reign has the final version of Kraken ready for Championships. With it comes a video showing off its features. We filmed it moving in all sorts of ways. We also found pictures from this season of the team's design growth and outreach events, including having fun. You can view it here below!

    ...
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    REVolution on Thingiverse

    REVolution on Thingiverse By Abhi

    Task: Publish REVolution Parts

    Tired of slipping set screws? Want a rigid drive shaft as long or tall as your robot? Have a bunch of REV Rail lying around? Have we got a solution for you...

    Turn your REV Rail into a beater-bar, a drive shaft or a heavy duty hinge with our Spintastic Axializer System … The REVolution System

    Iron reign has developed these parts over the course of this...

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    Relic Arm

    Relic Arm By Karina and Evan

    Task: To have a working relic arm in time for Worlds

    For weeks now, Team 6832 has been working hard to have a functional relic arm designed and mounted on the robot. We feel that it is absolutely necessary to be able to complete relic recovery at Worlds if we do not want to be crushed by the competition. Well, fear not, our relic arm is here!

    Now,...

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    Autonomous Updates, Multi-glyph

    Autonomous Updates, Multi-glyph By Abhi

    Task: Score extra autonomous glyphs

    At super regionals, we saw all the good teams having multi glyph autonomi. In fact, Viperbots Hydra, the winning alliance captain, had a 3 glyph autonomous. I believed Iron Reign could get some of this 100 point autonomous action so I sat down to create a 2 glyph autonomous. We now have 3 autonomi, one of which is multiglyph.

    I made a new methods called autonomous3(). For...

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    Upgrading Kraken

    Upgrading Kraken By Abhi

    Task: Update CAD model

    With FIRST Champs right around the corner, we needed to update our CAD model to match our current Kraken. After all, Kraken can't be lackin' any features. I decided to reopen Creo and make some modifications.

    One of the most important things I needed to put on was the Relic arm. After planning on it for the whole season, we finally finished it recently. I...

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    Engineering the Flag Holder

    Engineering the Flag Holder By Abhi

    Task: Find a place to put the flag

    When we went to Super Regionals, we forgot about where to put our flag with the new design. That led us to strapping a zip tie to a side shield, ruining the aluminum aesthetic. We decided we need a specially designed part to put our flag in since duct tape didn't look nice (we're classy like that). I embarked on a mission to create a...

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    Gripper Physics Diagrams

    Gripper Physics Diagrams By Ethan

    Task: Describe the physics of the gripper

    We always struggle a little with describing our robot to the judges. So, this post will be the third in a series of posts describing the physics of our robot (four if you count the coefficients of friction). First, we have the free body diagrams of the gripper.

    Next, to further describe this, we created an expiriment in which we determined the maximum...

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    Progress of the Octopuckers Over Time

    Progress of the Octopuckers Over Time By Ethan and Tycho

    Task: Chart the progress of the octopuckers over time


    This design was too rigid, we overlooked the fact that triangles tend to be the strongest shape, and therefore this octopucker wasn't as compliant as we wanted, damaging the blocks.

    This design was really good, and we used it for 3-4 tournaments. Our initial design of these wouldn't damage the blocks significantly at the levels...

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    Relic Arm Design

    Relic Arm Design By Ethan, Abhi, and Shaggy

    Task: Design and implement a new Relic Arm mechanism

    At the North Texas regionals, we realized that if we really want to go further in the robot game, we need to significantly improve. Part of this is designing the new grabber-flipper system detailed in a later post, but another good way to score points is to score the Relic. So, we designed v1 of the Relic Arms, as detailed in this post....

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    Meeting with Advanced Waterjet Cutting

    Meeting with Advanced Waterjet Cutting By Tycho and Austin

    Advanced Waterjet Cutting

    Today we visited the Advanced Waterjet Cutting office and spoke to Sal Copado and Chris regarding our side shield designs. We had called a couple days in advance to set up this meeting, and we brought both our robot and our Mobile Learning Lab to demo. They were impressed by our work and were happy to support a local team competing at the Supers level. Sal agreed to...
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    Grabber V5. Diagrams and Pictures

    Grabber V5. Diagrams and Pictures By Austin

    Task: Implement the new grabber system and record how it works

    So, we've been talking about our new gripper system for a while - we've made prior 3D models and started it, hoping that we'd have it done by the Oklahoma Regional, since that was sort of a low stakes tournament for us. Unfortunately, we didn't get it just in time, so we had to go back to the basic...

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    Intake Stars

    Intake Stars By Tycho

    Task: Improve the functionality of the gripper

    Our grabber is good, but it isn't achieving 100% of the potential it could. One thing we're doing is creating the Grabber V.5 previously blogged about, but we also want to increase the speed of the grabber in other ways, in order to get every single bit of performance out of our robot, since we want to really impress at Supers. So, we designed star-grabbers. The purpose of...

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    Last Minute Robot Fixes

    Last Minute Robot Fixes By Ethan and Evan

    Task: Add last-minute design changes to the robot

    It was a temperate night. The waning moon shone overhead, a blazing reminder of the continuity of time, for as the moon dipped lower in the sky, our precious little time until the tournament dripped away. Under this oppressive, singular symbol, we labored, trying to outpace the continual march of time.

    Over the past week, we had worked tirelessly on the robot. In...

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    Designing Grabber V. 4.5

    Designing Grabber V. 4.5 By Ethan, Evan, and Austin

    Task: Build an Updated Grabber System

    So, we probably won't finish both the Grabber V.5 and the Flipper designs by the North Texas Regional this Saturday, but we really need to improve our grabber system so that we have a chance of doing well in the robot game. From our last post-mortem, we decided that while our grabber performed *well*, it obviously could have been better. So, in...

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    Conveyor Belt V2

    Conveyor Belt V2 By Abhi

    Task: Develop Conveyor System 2

    After analyzing the lack of speed from our last competition, we decided to continue the journey of attaching the gripper arms to a conveyor belt as previously designed. To do so, we realized that we needed to utilize the REVolution system to make the grippers work better. Also, we needed two points of attachment for our robot after seeing that one didn't work with the first version of the...

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    Building a new chassis

    Building a new chassis By Karina and Janavi

    Task:

    Janavi and I have started to build a new chassis for Kraken 2.0., modelled after Kraken’s current chassis.

    First, we had to measure the chassis of Kraken, then cut REV rails to these measurements. Lastly, we assembled the pieces to look as it does above.

    With this being the first build project Janavi and I have taken the lead on, we had to have some help...

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    Flipper+

    Flipper+ By Evan, Abhi, and Janavi

    Task: Build a new glyph scoring system

    As the season wears on, the robot game looms over Iron Reign since the bot we built scores only a fifth of the world record. To lessen the gap, we continue to invest in the flipper system I contrived earlier on in the season. As of late, we’ve furthered the project by building a chassis for it to rest in. It’s a slightly modified version of the one...

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    Friction Coefficients of Various Materials

    Friction Coefficients of Various Materials By Ethan

    Task: Test Friction Coefficients of Various Materials

    Introduction:

    Iron Reign has used many different materials in years past. In those years, we usually preferred materials which were more durable. We started with ABS, but while hard, it was relatively brittle. We attempted to use Filoflex and Ninjaflex, and they were more durable, but too soft. Finally, we had used nylon for the past seasons, as it was extremely durable but...

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    The Grabber V. Kraken

    The Grabber V. Kraken By Austin and Evan

    Task: Build a new version of the grabber

    One of our issues with the previous iteration of the gripper was the fact that the material that coated the actual pincers weren't even and would often lead to blocks slipping from the bottom of the gripper and falling out. Our solution to this was to retest materials and in this process we decided to try our hand at 3D printing...

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    Fixing the Robot Chassis

    Fixing the Robot Chassis By Austin

    Task: Redesign the robot chassis, fix issues

    When we designed our new grabber with the octopuckers, one of the variables we neglected was the width of the new grabber once assembled and resting. After the grabber was completed it’s width was actually greater than that of the housing bay we had built into the current drive train, so to get the grabber to fit we actually had to widen the bay....

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    Chassis Model

    Chassis Model By Abhi and Janavi

    Task: Use Creo Parametric to CAD the chassis

    After making significant development on our robot, we decided to model it. So far, we have developed the chassis of the robot seen below

    To develop this, many types of contraints were used.

    The entire model is dependent on this tetrix bar. The bar was constrainted using the Default feature since it was the base of the model. To this, the lift...

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    Introducing Kraken

    Introducing Kraken By Abhi and Tycho

    Task:Design the robot model

    We have finally completed assembly modeling Kraken, Iron Reign's Relic Recovery robot. Named after the sea creature due to the robot's OCTOPUCKERS, Kraken stands as a fierce competitor in FTC.

    To the chassis, we added the glyph system mounting. We first designed a linear slide replica and constrained that to a small TETRIX U connector piece which attached to the REV rail base. On the other side...

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    Flipper Prototype

    Flipper Prototype By Evan

    Task: Build an alternate glyph-placing mechanism

    The world advances on innovation. We strive to make the most efficient devices and aparati to complete jobs for us. There’s a hundred different ways to work a task, but only one will be the best at functioning in the areas of efficiency and timeliness. Just as America runs on Dunkin, advancement runs on efficiency. That’s why the robot must be outfitted with a flipper system...

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    REVolution Inside Washer

    REVolution Inside Washer By Tycho

    Task: Power to the REVolution

    This is an inside washer. It will fit entirely inside the standard plate hole. We don’t use these much, but they can be useful as spacers.

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    REVolution Narrow Bearing Washer

    REVolution Narrow Bearing Washer By Tycho

    Task: Power to the REVolution

    Washers can be used as spacers. They are also used to smooth out the rough top layers. Keep the bed very clean and smooth and the bottom surface of parts should be very slippery against other nylon. Put these in between the rough top bearing surface of one part (with rough surface facing rough) and the smooth bottom surface of the next part, and the friction...

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    REVolution Custom Dual Rail Plate

    REVolution Custom Dual Rail Plate By Tycho

    Task: Power to the REVolution

    This shows customized version of the Dual Rail Plate. This is for our 4th generation rolling gripper system. The small ears are designed to hold a long M3 bolt that have a stack of mini ball bearings on them. These ball bearings squeeze our timing belts together, forcing them into a more oval shape, but still allowing them to glide. This reduces friction quite a...

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    REVolution Rail Stop

    REVolution Rail Stop By Tycho

    Task: Power to the REVolution

    This stop can be placed anywhere on a REVrail to trap mounting plates inside bearings. They are usually used in pairs.

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    REVolution Thin Bearing

    REVolution Thin Bearing By Tycho

    Task:Build an Army Worthy of Mordor

    This is the standard bearing / bushing that allows a REVrail to rotate inside a plate. It is typically coupled with a glide washer and two stops to bind it to an attachment plate or pillow block.

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    REVolution Rail End Cap

    REVolution Rail End Cap By Tycho

    Task: Power to the REVolution

    End caps are stops placed at the end of a REVrail. Five of the holes are for M3 bolts that can be screwed into the standard holes in the cross section of the extrusion. We highly recommend tapping these holes and then using threadlock to retain the bolts. So far we’ve only had to use a single bolt since we haven’t experienced very large forces The...

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    REVolution 15x20 Tooth Sprocket

    REVolution 15x20 Tooth Sprocket By Tycho

    Task: Power to the REVolution

    This is our REV0lution 20 tooth sprocket for #25 chain. This took a lot of trial and error to get right, because it was the component most sensitive to our print settings. We had to inset the tooth profile quite a bit because any extra material created by perimeter settings would cause the gaps between teeth to be too small for the chain to fully engage,...

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    REVolution Pillow Block

    REVolution Pillow Block By Tycho

    Task: Power to the REVolution

    This is a standard pillow block. We had to add adhesion pads to the ends because the nylon would curl away from the print bed. But these are easily cut off with a hobby knife.

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    REVolution Thick HingePlate

    REVolution Thick HingePlate By Tycho

    Task: Power to the REVolution

    This is our most used hinge plate. The 4 holes can take M3 screws to attach to a REVrail on one side at the end.

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    REVolution Narrow Inside Washer

    REVolution Narrow Inside Washer By Tycho

    Task: Power to the REVolution

    This washer is a stackable spacer that can be used to adapt standard bearings/sprockets/pulleys to thinned base plates.

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    REVolution Basic HingePlate

    REVolution Basic HingePlate By Tycho

    Task: Power to the REVolution

    This is our most used hinge plate. The 4 holes can take M3 screws to attach to a REVrail on one side at the end.

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    REVolution Simple Dual Rail Plate

    REVolution Simple Dual Rail Plate By Tycho

    Task: Power to the REVolution

    The dual rail plate allows you to couple the rotation of two REVrails together. The distance between the holes should be based on how you are coupling them together. This model is designed to use GT2 5mm pulleys and a 46 gap timing belt.

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    REVolution Pulley

    REVolution Pulley By Tycho

    Task:Build an Army Worthy of Mordor

    This GT2 pulley has rounded teeth that engage nicely. GT2 pulleys and timing belts are the most common in use with 3D printers - but those are usually of the 2mm pitch variety. We didn’t think our printer would be able achieve the fine detail accuracy needed to print at that size, so we went for the 5mm pitch belts. On our printer we can take this...

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    Gripper v4, Octopuckers

    Gripper v4, Octopuckers By Tycho and Abhi

    Task: Design a new piece for intake

    Version 2 of our gripper arms worked much better than our original. Due to their silicone material and trianglular shape, we definitely had more control over the glyphs than our one degree of freedom grabber arms. However, we still had issues we needed to address. When glyphs were taken in, since the silicone surface did not have much mobility and compressibility, glyphs would often fall. Due to slight...

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    Grabber Arms v3

    Grabber Arms v3 By Abhi and Karina

    Task:Develop a More Efficient System

    At the Oklahoma qualifier, we saw numerous teams with similar systems to that of ours. However, since we had the mobilized gripper arms to stack with auto alignment, we were able to collect glyphs easier. In spite of that, after observing other teams in action, we realized our current gripper method had the issue of not being ready by the time we got back to the cryptobox. This is...

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    Intake Grippers Pt2

    Intake Grippers Pt2 By Evan

    Task: Attach the new intake grippers

    The basters are here and in full swing. We spent a late night putting together the two intake columns. They were attached to a backing by previously, allowing to finish it by attaching the final servo and tieing it to the two columns. Since the new intake needed new code, we whipped up some code to allow us to have control. Upon doing this he realized...

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    Gripper Part 2

    Gripper Part 2 By Evan

    Update:

    The task today was simple. We replicated the prior work with the first gripper, as stated in the prior post, so we can begin connecting them. The biggest problem was finding all the parts to make it. We are hoping we can connect and mount them in the next couple days so it will be ready for the qualifier in Oklahoma. The improvement over last post was the addition of the rubber gripping material, as...

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    Gripper Construction

    Gripper Construction By Tycho

    Task: Making the Gripper

    Standard parts were used to create the backbone. Then, we bent some tetrix parts to connect the backbone to the servos. We used continuous rotation cervos to solve the issue mentioned earlier. This was a fairly easy build but we still have a ways to go before V2 is completed.

    This gripper will be far superior to our prior designs in that it will be...

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    Machine Vision Goals – Part 1

    Machine Vision Goals – Part 1 By Tycho

    We’ve been using machine vision for a couple of years now and have a plan to use it in Relic Rescue for a number of things. I mostly haven’t gotten to it because college application deadlines have a higher priority for me this year. But since we already have experience with color blob tracking in OpenCV and Vuforia tracking, I hope this won’t be too difficult. We have 5 different things we want to try:

    VuMark decode – this is obvious since...

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    V2 Hexifier and Parts

    V2 Hexifier and Parts By Tycho and Abhi

    Task: Creating the Parts for V2

    Today we continued our work on the second grippers. We talked about this in another post, but the gist is that we iterated through various materials to find something that would securely grip the block, without damaging it. At the beginning, that got rid of most of our options, but we tested various sprays, materials, and pressures to find the right material. The baking pan liner was...

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    Designing the Grabber

    Designing the Grabber By Austin

    Task: Work on the grabbers more

    With our single degree of freedom lift fastened to the robot we focused on the appendage that would grip to within an inch of its life any glyph we fed it. We initially toyed with simple tetrix channels to form a make shift rail that would hold axels for pivoting points, however we found tetrix to be a bit too cumbersome and decided to use rev...

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    Designing the Grabber Further

    Designing the Grabber Further By Evan

    Task: Design the grabber design and make future plans

    The grabber has been evolving. A column made of a turkey baster and a wooden dowel attached to servo has come into fruition. The first drawings and designs are coming along, and some 3D printed parts have been thought up to allow the square dowel to become a hexagon. An adapter of sorts. The grabber and lift have been outfitted with a...

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    Testing Materials

    Testing Materials By Austin, Evan, and and Tycho

    Task: Test Materials for V2 Gripper

    Though our current gripper is working sufficiently, there are some issues we would like to improve in our second version. The mounting system is unstable and easily comes out of alignment because the rev rail keeps bending. Another issue we've encountered is the cervo pulling the grippers so that they begin to cave inwards, releasing any blocks being held at the bottom. By far the biggest problem is...

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    Building Competition 2017

    Building Competition 2017 By Evan and Austin

    Task: Find the best robot design

    The games have begun and it’s time to build. So that’s what Austin and I did. A war had been declared. Legions of the indentured collided on the battlefield. Millions were slaughtered during this new age armageddon. Austin had his army. I had mine. Two different ideas to do the same task: lift glyphs into their correct positions. A simple job but one that caused a rift in...

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    Slide Designs

    Slide Designs By Austin

    Task: Figure out slide mechanism

    After determining that the treaded channel was much too buggy to perfect with the time we had, we shifted attention to other scoring systems like grabbers, however before finding the right grabber we decided we needed to get the track for it completed first. We’ve had experience in the past with all sorts of rails from Tetrix kits that convert their standard channels into lifts, to the newer...

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    Narrowing Down the Designs

    Narrowing Down the Designs By Evan and Austin

    Task: Redesign our grabber systems

    In an attempt to get a working lift system before the coaches meeting we will be presenting at, a linear slide has been attached to the robot, along with a pair of grabbing arms. They work surprisingly well and aren’t as complicated as my idea. Plus the importance of speed has really taken hold on me this year. We need to be as fast...

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    Intake Systems

    Intake Systems By Austin

    Task: Work on designs for the intake system

    Over the past couple of days we’ve experimented with a horizontally mounted track system that we had hoped would serve to move blocks through the entire length of the robot and into the crypto box. Immediately we noticed a few issues, the primary one being that the tread was static in terms of mounting and therefore wasn’t accepting of blocks when feed at an odd...

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    Further Design of the Intake

    Further Design of the Intake By Evan and Austin

    Task: Design the grabbing systems further

    The sun came out and it was back to the field. We got started right away, both of us building our designs. Since the cryptoboxes were wider than the 18 inch sizing cube, we started by designing a fold out for the conveyor belt. This was entirely proof of concept, purely to see if it was at all aplicable in the game...

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    Intake System Competition

    Intake System Competition By Evan and Austin

    Task: Compare build designs for the cryptobox intake system

    The block scoring system is going to be an integral part of the competition this year, and it will have to built sturdy. It’ll have to be reliable for us to have any shot of winning any matches. So we got to brainstorming. We spent a while at the whiteboard, drawing up various mechanisms and ways to pick up blocks. One idea was the idea...

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    Editing the Reveal Video

    Editing the Reveal Video By Evan and Omar

    One man's harrowing journey through copyright free music lists

    The Robot Reveal video is underway. With most of the filming done, the sky grows dark and the day ends. A night time of editing sets in for the poor miscreant who volunteered for the task. Huddled in the corner with a raw fish and his precious computer, the boy opens premiere pro to begin. All is right with the world. The five hour...

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    Inspire Award

    Inspire Award By Tycho, Jayesh, Lin, Omar, Max, Darshan, Evan, Ethan, Janavi, and Charlotte

    1st Place at North Texas Regional Championship

    Iron Reign members left to right are Ethan Helfman (Build, Communications), Janavi Chada (Programming, Communications), Tycho Virani (Programming Lead, Main Driver), Jayesh Sharma (Business Lead, Build, Communications), Darshan Patel (Build), Lin Rogers (Communications Lead, Logistics, Business) and Charlotte Leakey (Programming, Logistics), with Evan Daane (from BTW, Build, Photography) in repose. Not shown: Max Virani (Design Lead, Programming), Omar...

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    Building the Fly Wheel Launcher

    Building the Fly Wheel Launcher By Jayesh, Omar, Darshan, Evan, Tycho, and Max

    Task: Create a particle launcher with a higher scoring rate

    The first particle launcher we saw by another FTC team was actually a crude flywheel and rail design back in October where the rail was a cut up PVC elbow. Back then we considered a number of different designs including impact launchers, catapults, flywheel + rail systems and dual flywheel shooters like our sister team built. We decided to go with a catapult design because Max...

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    Return to Machine Vision

    Return to Machine Vision By Tycho

    Task: Prepare to reintegrate machine vision

    A year and a half ago while the new Android-based platform was still in pre-launch, we were the first team to share a machine vision testbed on the FTC Forums. That color-blog tracker was implemented with OpenCV on Android, but with a different low-level control system and robotics framework. Then we integrated OpenCV into our implementation of ftc_app, which was in turn based on the great...

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    Beginning the build for the Cap Ball Trapper

    Beginning the build for the Cap Ball Trapper By Jayesh and Omar

    Task: Give Deadshot flexibility in end game scoring by designing Cap ball launcher

    One of the issues we saw in Arkansas was in the lack of flexibility we had in terms of the end game. We efficiently scored balls and beacons, but when our teammate for a specific match could do the same, we lost possible points scored. This led us to conclude that a Cap Ball Trapper,...

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    Intake System Improvements

    Intake System Improvements By Lin and Janavi

    Task: Replace rubber bands with smaller versions and add wider intake area

    New intake area is wider than before


    At the Scrimmage we noticed that the rubber bands would get tangled as they rubbed against the underside of the catapult bowl, and so didn't reach as far down at the bottom. We untangled them before each match but decided to test out the smaller ones when we had the chance at...

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    Parasyte

    Parasyte By Jayesh, Omar, Darshan, Lin, and Max

    Task: Design a collector for the balls

    We've spent the last few practies creating a ball collector. The idea was to have our track with the gripping rubber bands reach from the bottom of the robot to our 3D designed ramp. The path would guide the balls to a higher position on our robot to the launching mechanism. We needed to adjust the correct orientation of the support beams guiding the balls, needing...

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    Launching Mechanisms Pt. 2

    Launching Mechanisms Pt. 2 By Ethan

    Task: To improve upon launching mechanism designs

    Catapult

    First and foremost, we now have one completely functional, terrifying, catapult. The motor mechanism is cannibalized from our sister team's attempt at a catapult, which broke apart on testing.


    Flywheel
    So, while we don't have a functional flywheel as of...
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    Stabilizing Our Driving Base

    Stabilizing Our Driving Base By Jayesh, Omar, Max, and Darshan

    Task: Stablize Meccanum wheel base so the driving is more stable and consistent

    Our Meccanum wheel base idea started off on a shaky note. While we had a good amount of success in the tass we wanted to complete, like driving right or let without turning the entire robot, including the basic driving functions. However, as we went on with testing, we found that over time, the force the meccanum wheels...

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    Launching Mechanisms

    Launching Mechanisms By Ethan

    Task: To build a launching mechanism for the particles

    For the 2016-2017 season, particle scoring is really important. During autonomous, balls that are launched into the center vortex earn 15 points each, and balls that are launched into the center vortex earn 5 points. If done quickly enough, the particle scoring can negate most of the advantages another team has - just 8 particles scored during the driver-controlled period is equivalent to scoring all 4 beacons. With a good scoring mechanism, the only thing that your team...

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    2016-2017 Robot

    2016-2017 Robot By Ethan, Omar, Jayesh, Evan, Tycho, and Max

    Task: To build the robot for the 2016-2017 season

    As much as we love our robot from last season, Geb, we need a robot that is better able to fit the season's challenges. Our needs for this year are:

    • Manuverable and fast
    • Able to play defensively
    • Can support attachments such as an intake system
    For manuverability, we decided to use mecanum wheels.

    The cool thing...
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    Adding Blog Features

    Adding Blog Features By Ethan

    Task: Add Cool and New Blog Features

    I remember, vaguely, that someone on our team wanted to add a post counter for all the posts people appear in. And, today, I did it out of sheer boredom. And, here it is.

    {% assign eh = 1 %}
    {% assign dc = 1 %}
    {% assign ed = 1 %}
    {% assign or = 1 %}
    {% assign js = 1 %}
    {% assign cr = 1 %}
    {%...

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    Mobile Learning Lab Part 4 - Update

    Mobile Learning Lab Part 4 - Update By Ethan, Max, Tycho, Lin, Jayesh, Darshan, Austin, Matthew, Evan, Dylan, Omar, and Trace

    Task: Covert a 1998 RV into the Dallas City of Learning Lab

    The RV exterior


    We have finished the majority of the renovation of the Dallas City of Learning Lab. We've finished rebuilding the roof, going throught the plumbing (including the suspiciously secretive water tank), and also replacing the entirety of the flooring.

    to...

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    Mobile Learning Lab Part 3 - Flooring

    Mobile Learning Lab Part 3 - Flooring By Evan, Max, Tycho, Dylan, Ethan, Lin, Darshan, and Austin

    Carpet ripping is not fun. The carpet is tacked down with so many staples that is is not easy to remove. It tends to rip around the stables leaving nubs of fibers and then we have to attack the stables with pliers and staple pullers. Getting it out from under the edges of walls and the slide out is really hard. And we've...

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    Mobile Learning Lab Part 2 - Roof

    Mobile Learning Lab Part 2 - Roof By Tycho, Max, Matthew, and Austin

    Task: Clean the roof of the RV

    We'd noticed that the roof was very grimey looking from the small strip you could see at the top of the side walls, but we hadn't been up there to look at it. Finally climbing the ladder we confirmed it. The roof is a very dark brown. We believe it is simply dirt that has caked into...

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    Mobile Learning Lab Part 1 - Demolition

    Mobile Learning Lab Part 1 - Demolition By Evan, Max, Tycho, and Austin

    Task: Redo the inside of the recreational vehicle

    Mr.Virani recently aquired an RV so it could be used as a mobile learning center for the Dallas City of Learning this summer. To convert it from someplace you might live on a long road trip to somewhere you could teach science and technology to children means stripping out carpeting, removing walls, and laying down...

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    New tread material test

    New tread material test By Lin, Tycho, Max, and Evan

    Task: Initial tests for new tread material

    The standard Tetrix treads and tread inserts aren't nearly as sturdy as we would like. When they snap it's a real effort to put back together stretched over the idlers, and the inserts peel apart, bringing our traction down. The new material is a rubber conveyor belt material from Andymark, and the underside track chain is 3D printed in nylon to mesh with the...

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    Tape Measure Attachment

    Cliff Hanger - Tape measure based climber By Trace and Max

    Task: Creating an attachment to climb the mountain


    We have recently been working on a new approach to climbing the mountain. Our strategy so far was to have one system customized for climbing the mid and upper mountain (Churro Climber), and a separate system for climbing the cliff (Crossbow Grapple). The Churro climber system was beginning to work but it was floppy and we were thinking about stiffening the nylon extensions with...

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    Rebuilding the Churro Climber System

    Rebuilding the Churro Climber System By Omar, Darshan, Max

    Task: Fix bending axle on churro climber permanently

    After further testing of the churro climbers, we noticed that the axle the gear is rotating on had been bent severely due to the strain on it of the arms pulling. If we left the axle as it was, it might wreck something else later and become unusable, so we tried to figure out a way of creating something that served the same function as the axle but wouldn't bend as easily. We decided...

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    Slide Lock

    Slide Lock By Max

    Task: Model a part to keep the slide from going too far forward

    Since we mounted the beater bars on a slide, we have been keeping them from going too far and falling off their rails either by obstructing them with a couple of bolts or with a bent piece of steel wire, but neither method is fool proof. The wire can get bent out of shape as the slide moves forward and collides with it, and...

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    Climber Restraint

    Climber Restraint By Max

    Task: Model a part to keep the churro climber cable ties on path

    As we continued to work on the churro climber mechanism today, we decided that the cable ties bowing out would be a big issue that needed fixing. By making a small guide piece, we could ensure that the cable tie actually extends from the front of the robot instead of flopping around like overcooked spaghetti on the other side. So, I've made a rather...

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    General Blog Improvements

    General Blog Improvements By Lin

    Task: Make blog more accessible and simpler to write for

    In a rough order, here are the things I've worked on in the blog over the past month or so:

    • Add a readable nav-bar and fix header text color
    • Add About page structure for new members to fill in
    • Resize a bunch of images to fit the 600 px width, and a couple that were too tall
    • Create tag-specific post pages
    • Make these tag pages Case-Insensitive so posters could tag "Design"...
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    Churro Hook

    Churro Hook By Max

    Task: Model a part to help the robot climb the churros on the mountains

    Most of the big-value items in terms of points have to do with the mountains, so climbing mechanisms are a must have. Since the tank treads have problems scaling the churros on the middle and upper mountains, we need another way to pull the robot higher. Our solution was to put hooks on the ends of long, heavy-duty cable ties that we could...

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    General Improvements

    General Improvements By Jayesh, Omar, Darshan, Max, Lin

    Task: Perfect and improve multiple of our main characteristics of our robot

    Iron Reign held its first Christmas break parade today and we decided to focus our time on making multiple small improvements, rather than adding one big part on our robot. Omar, Darshan, and I spent our time on rewiring and fixing our side motors. We found that one side was greatly lagging behind the other, so we tested to see which motor was failing, and rewiring the system fixed our driving system....

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    Slide Trigger

    Slide Trigger By Max

    Task: Model a part that lets us hold back the slide with a trigger to release it

    The beater bar mechanism was put on a slide so that we could restrain it until some point during the match, but we had yet to actually build a restraint and trigger to serve this purpose until now. Since the mechanism would likely include rubbing pieces and need customized parts, we chose to model and 3D print the part in...

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    Design and prototype a churro latch mechanism

    Design and prototype a churro latch mechanism By Lin, Darshan

    Task: Design an alternative churro climber mechanism

    Currently Max and Tycho are working on a beater bar 3D part that is stiff enough to pull in blocks, and will hopefully double as a churro catcher when spinning. However, since the parts take 4 hours per set to print, and are harder to rapid-fire test and change and tweak relative to some other options we're going for other options till they're tested. The churro catchers help us to secure holding up the ramp but...

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    Hell On Reels

    Hell On Reels By Max

    Task: Make a prototype grappling hook of doom.

    As the point values make clear, managing to get the robot to hang on the end of the "cliff" is likely worth the effort. As such, we've worked on making a strange grappling-hook type contraption to pull the robot up. This first version works rather like a crossbow. A telescoping fishing pole has its largest loop hooked up to a long "bolt" which extends beyond the pole to a bungee cord tied to a pair of arms on...

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