Metric & Imperial
We named our sixth robot after the decimalised system of measurement we use in Europe. So, our robots name is "Metric". It is only fitting that we name our second robot after the decimalised system of measurement that is used in America. So, our second robot is named "Imperial". For the FIRST Robotics Competition game "FIRST POWERUP" we went with our robot "Metric" to the Palmetto Regional in Myrtle Beach, North Carolina and to the Orlando Regional in Orlando, Florida. During the Palmetto Regional we managed to get in to the quarter finals, but weren't able to defeat the boss. Above all expectations, we were awarded with the highest award you could win within the competition. The Chairman's award. We went completely crazy after hearing that we were awarded with the Chairman's award. This also ment that we were qualified for the FIRST Championship in Detroit, Michigan. This made us even more enthusiastic for the Orlando Regional. Because we solved and update all changes during the Palmetto Regional we could practice many times. In the Orlando Regional we were once again able to end up in the finals, thanks to our alliance partners Team 179 - Children of the Swamp and Team 3653 - BOTCATS. We battled hard and were able to defeat the boss. So, we are for the second year in a row the Orlando Regional Champions. That was not everything, we even won the Gracious Professionalism Award sponsored by Johnson & Johnson.
Our second robot we named after a famous painting "The Night Watch". Painted by the Dutch painter Rembrandt van Rijn. The robot "Nightwatch" was build in the 2014 season for the FIRST Robotics Competition game "Aerial Assist". Nightwatch has competed at the North Carolina Regional in Raleigh and at the FIRST Championship 2014 in St. Louis. With Nightwatch we won the Engineering Inspiration Award at the North Carolina Regional and the Imagery Award in the Newton Division at the FIRST Championship 2014.
For our strategy this season we choose to make Nightwatch very flexible in moving around on the field. Further we want to be able to grab the ball from the ground and pass it to another robot. This because the most points can be earned by assists. Next to that we want to be able to shoot over the truss and into the high goal.
• High impact resistant frame
• Small robot for fast maneuverability
• 80 second pit cycle must be possible
• Minimize extending parts outside the frame perimeter
• Vault / switch cycle without turning
For determining the strategy the team came up with a few possible strategy plans. For every strategy a few parameters had to be determined
• Estimated solo match score
• Complexity rating
- Based on what kind of robots you might see with this strategy
• Feasibility rating
- Is the robot complexity within the team’s building capabilities
In the end after discussing all the possible strategies, one strategy came out as the best fit for the team;
This strategy has a focus on the switch and the exchange. The robot doesn’t need to be a complex lift or arm with a high center of gravity. So instead the robot can be small and viable. The robot needs to be able to put a cube in the scale when the opposing team doesn’t have those capabilities.
DutchDrive - Drivetrain
30x60x3 mm welded and anodized aluminum tubing
10:1 Custom made DutchDriveFlushboxes 3 Mini CIM per side, anodized in Rembrandt’s orange
MIM Tankdrive. (Metric-Imperial-Metric) Imperial 152.4mm (6”) creating the 1.2 mm centerdrop which enables eazypeazyturning
Low center of gravity mounted electronics integrated in the drivetrain
Incremental 360PPR SICK encoders mounted to the rear wheel axle for closed loop control
Bearinged integrated intake roller to transfer cubes into the shooter
Custom bumper and drivetrain design which allows cubes to pass through horizontally from front to back
Touch it. Own it - Intake
• 30x60x3 mm welded and anodized aluminum tubing
• SideSwipe, 1114 - 2015, inspired intake
• Powered by a 775pro - 27:1 VP gearbox per side
• Pneumatic cylinder actuated rotation unburdened by a spring tovdecrease piston size and air consumption
• Supported by carbon and kevlar infused 3D printed bearing blocks
• Rotation can be locked by ejecting a short stroke cylinder per side,vinserting a conical peg
• Left side: 2 x 30A 4” Durasofts
• Right side: 2 x 20A 4” Durasofts
• Different durometers and spring pivoting joints allow the intake tovapproach a cube at every angle
• Horizontal bull bar to re-orientate cubes to 11” height
WHEELIE - SHOOTER
• 20x40x2 mm welded and anodized aluminum tubing
• 2 photoelectric sensors to determine exact location of the cube
• 8 blue compliance wheels to eject cube in the exchange or feed to the shooter
• Powered by a 775pro - 18:1 reduction per side (9:1 VP and 2:1 pulley reduction)
• 4 Colsons with stainless steel plates creating more mass moment of inertia
• Powered by a 775pro - 5:1 reduction per side (4:1 VP and 1.25:1 pulley reduction)
• Horizontal allows the cube to be shot in the exchange portal
• 60˚ angle is acquired by pneumatic actuated rotation which allows the robot to shoot - in the switch and scale based on highly accurate controlled shooter control loops
• Pneumatic actuated rotation is unburdened by a tension spring and locked through clamping units.
• Tension springs decrease shaft size, needed strength and air consumption. Clamping units prevent the shooter from bouncing while driving and shooting.