• Make Presentation
• Finish the grabber by adding a cup
• Test Program
• Make Notebook
• Print Team Number
• Print Alliance Color
• Mount motors
• Print Mounts for tubing
•  

WE MADE SOAP!

Next step is doing everything else.

Putting mecanum rollers on tracks is an interesting idea to say the least. Team 10355 made this render and posted it on one of the FTC discord servers. on first glance you see a drive train with tracks which is a rare enough site on the FTC discord but on closer inspection you see that there are rollers on the tracks.

With this design you get all the good parts of mecanum wheels and of using tank tracks just with some reduced capabilities. You get the maneuverability of mecanum wheels but also the grip of tracks with this setup in theory how well it does in practice remains to be seen.

Issues that arise when you use tracks like this are things like how the spacing needs to be different in order to reach similar vectors to wheels. Another issue is with rollers on the tracks that makes suspension located on the idlers very difficult but you can mount the suspension in a different way to achieve the same result but that reduces the grip of the tracks but the grip is still better.

The structure of the drive train in this picture is sub optimal for going over rough terrain due to the low clearance.

The model is coming along slowly.

$fn = 100;

wallThickness = 3;
hopperHeight = 70;
hopperWidth = 70;
hopperThickness = 70;

holesX = 5;  // number of holes in the x direction
holesY = 2;  // number of holes in the y direction
holeRadius = 2;
holeSpacingX = 5;
holeSpacingY = 5;

p1 = [0, hopperHeight];
p2 = [2*hopperWidth, hopperHeight];
p3 = [2*hopperWidth, 0];
p4 = [hopperWidth, 0];

hopperDiagonalLength = sqrt(hopperHeight * hopperHeight + hopperWidth * hopperWidth);
arrayWidthX = (holeSpacingX - 1)*holesX/2;
arrayWidthY = (holeSpacingY - holeRadius)*holesY/2;

difference(){
    rotate([90, 0, 0])
    difference(){
        // create the side of the hopper and extrude it
        linear_extrude(hopperThickness, center = true) polygon([p1, p2, p3, p4]);
        // create the side again, extrude it, then move it, then cut it away from the hopper
        translate([wallThickness, wallThickness, 0]) linear_extrude(hopperThickness-2*wallThickness, center = true) polygon([p1, p2, p3, p4]);
    }
    // cut away cylindrical array
    translate([hopperHeight/4, 0, hopperWidth*3/4]) rotate([0, 45, 0]) translate([-arrayWidthX, -arrayWidthY, 0]) cylindricalArray();
}

module cylindricalArray(){
    for(i = [0: holesX-1]){
        for(j = [0: holesY-1]){
            translate([i*holeSpacingX, j*holeSpacingY, 0]) cylinder(wallThickness*4, holeRadius, holeRadius, center = true);
        }
    }
}

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work

after trying and failing to make the component I concluded we must make another custom part. So I went into tinker cad and made a rough sketch of it that we will be remade in OpenSCAD.

after the first print of the idler setup, we have concluded that the suspension setup on that was not the best so we are reworking it to use an expanding spring rather than a compression spring. We have also decided to rework the tracks to increase strength.

Today I completed the first design prototype for the idler suspension setup as seen above.

Required Items

• The idler suspension setup needs to be printed and tested.

• Springs are needed in for the suspension and the belts.

• We need something for extending and retracting the dragon.

• The tracks need to be printed and tested with the idlers.

• A Setup for the jaw needs to be made and tested.

• The belt needs a design (perhaps we can use the same thing that the tracks use).

• We need somewhere to put our team number.

• The Electronics need to be programed and placed on the robot.

• Motors need to be applied.

Decorative

• The Skull needs to be printed at a larger size and then cleaned.

• we need a rib cage to be placed over the belt not only for decoration but to ensure the shipping elements stay in.

• the tracks should be printed with translucent red so that it is like blood.

• some decorative plates need to be printed and placed on the base.

• LED lights can be added.

The treads are done but the idler and suspension setup needs some work.