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For discussing all things intake
@Clio Batali set the channel purpose: For discussing all things intake
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Rollers for conveyor from Mcmaster https://www.mcmaster.com/#standard-rollers-for-conveyors/=15z2lci
Polycord catalog from Mcmaster https://www.mcmaster.com/#catalog/123/1094/=15z2mv1
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Very useful resource for intake shaft configurations. Thoughts on which type of shaft we will use? http://www.wcproducts.net/cad/manuals/WCP%20Roller%20System%20-%20User%20Guide.pdf
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Repost from engineering.
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To preface this, I am basing these calculations on 2 factors: a peak ground speed on our robot of 12.7 ft/s, and an rpm at max efficiency for an RS-775 motor of 6070 RPM. The goal of these calculations was to figure out the optimal gear ratio for the intake. First, I turned our robot's driving speed into inches/min- (12.7 ft/sec)(12 in/ft)(60 sec/min)= 9144 in/min. Since our robot's intake speed should be 2 times our robot's ground speed, the goal inches/min of our intake shaft should be 18288 in/min. Next, I calculated the inches per revolution of the intake shaft- (2)(0.625 in radius)(pi)= 3.927 in/revolution. So, to find the goal RPM of our intake shaft when our robot is at top speed, I divided our rpm goal by our inches per revolution- (18288 in/min)/(3.927 in/revolution)= 4657 RPM. To achieve this, we could use a 2:1 or 1.5:1 gear reduction on our rs775, which would give 3035 RPM at peak efficiency, ~2/3 of our target. I think this is acceptable because we would very rarely be driving at our max speed, much less while gathering balls. However, My calculated number of 4657 RPM seems very, very high for what we are trying to do. If my calculations are correct, then would a faster motor(i.e. BAG motor with 11596 RPM at peak efficiency) be better? Additionally, does 4657 RPM seem realistic when looking at factors outside of motors(ball mutilation, driving the upper shaft)? Additionally, could someone give my calculations a once-over to make sure that they are actually correct?
Math looks ok on quick glance, but It seems too fast to me. 3000 rpm would be 50 revs per sec of the shaft. 50 x 3.927 in/rev = 196 in/sec for the Polycord. I'm guessing the round trip distance of the intake is around 34 inches, so at that speed the intake would do around 6 full revs per sec. I think I'd want to cut that at least in half to start with, and live with driving slower to intake. Thoughts?
I agree completely. 3000 seems like far to fast for an shaft to be spinning, especially when we
are expecting to drive the top shaft just with polycord
Do u know what gear combos we have, or are u trying to order one?
Don't know which gear combos we have, but it'd likely be a single reduction, so that lessens the requirement for complex gear combos
Seems like a 8:1 or 10:1 reduction would get u around one full rev per sec of the intake.
Here's the current intake design! Almost done adding the details.
can you put that into the assembly with the launcher and agitator?
The file with agitator and launcher is under assembly
There are some conflicts with the storage right now. Is what I see in that file the current storage design?
just get rid of the storage container that is in there
I just put that in for a visual
Let me fix it and then take a look
if you reload it now it should be good
Please include motor location on intake .
That's what I'm currently doing
This is the problem I've run into. With the gearbox and motor, the pins of the motor are about 1/4-1/2 in away from the frame perimeter. I assume this is unworkable. So, we wouldn't be able to use a Versaplanetary gearbox, which was the option I was leaning toward. Does anyone have any suggestions to fix this problem? A single stage reduction without a gearbox is an option, but I'm hesitant to do that because that would require very, very precise spacing.
use the Andy mark planetary gearboxes that we have. here is a link to the gearbox: http://www.andymark.com/PG71-Gearmotor-With-Encoder-p/am-2971.htm
This actually turns out to be even longer than the versaplanetary
can you put it inside of the polycord?
It's a wider diameter than the distance between the belts
can you fit it above the belts without exceeding the height limit?
A bag motor seems like it would work
and it's maybe possible to do that
fit it up top
can you save your current file so I can view the most up to date file.
If you can move the motor about 1/4 of an inch closer to the upright you should be fine.
So should the sprockets be inside the vertical support?
re open it now and take a look
this should work
If you have room for the sprockets on the inside I think that would be better.
There should be space
If you could move those and then put it into the file with the launcher and agitator that would be great.
I'll do that and get things exact tommorow
It's on the chassis
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posted accidentally to agitator
1) make sure on Sun you check the bag motor that you built with the 10:1 planetary gear box
2) research how to fuse the orange belt polycord and do we have enough ? How much was purchased ? Are there other colors ? Blue or yellow
Also encoders and limit switches ?
coachchee: If we use the planetary gearbox, we should be able to use the quad encoders that we have set up with the andymark motors
Have you research in CD best camera to use ?
@Enrique Chee You said you had a hot plate. If it is Teflon coated, could you bring it in on Wednesday?
For those reading, it would be used to fuse the urethane belts for the intake.
We have hot plates but they are not teflon coated . Where is your source for this method ? Thanks
You should have Rose and folks in the intake team research this.
If we continue to have problems with intake tomorrow, what about switching to using Modulux channel or REV extrusion for the frame sides? This would allow the bearings to be mounted such that they could be adjusted up or down as necessary for fine tuning or replacing belts.
I like the idea of that, and if the belt tensioning is too big an issue it is definitely worth heavily considering.
Do we have enough Modulux ? If you don't know what Modulux or REV extrusion, please lookup in AndyMark.
I'd say we do. I've seen it on the stock shelf and we would have enough if we decide that we absolutely need to go that route.
Hello team Intake! When you start this afternoon make sure you check the "to do" list. We don't have much left to get done so we can run a functional test. I won't be there until 6 ish, but hoping to see the back panel attached with the back support ribs and hopefully the side panels will be on board too! See you soon!!
Hello I have made a list from the programming side to test and debug code so far I have
Single to multiball strain testing
What is required to make a ball get stuck
Does backwards undo sticking
What speed does it need to reverse?
* Optimal speed for intake
what else does anyone want tested
@Noah Martin optimal speed would also need to take the ‘driving’ action into account. I am thinking that once we trigger the ‘intake’ mode, we can either let the driver slow down driving or automatically drop the speed of the ‘drivetrain’ — either is doable, and would be good to test
I can give numbers for optimal intake motor speed with ground speed as a a variable later if you want it. @Noah Martin
@Lucas Rininger sorry for the late reply but we are running on percent vbus mode so testing would be needed for optimal results not specific values. Sorry
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