Tasks: 

Features:

• Built using standard Vex kit pieces
• 6 Motor drive-train: Tank treads
• Dual motor driven manipulator on a 4-bar linkage
• Can pick up and score up to 11 rings at a time.
• "Proboscus" allows for scoring on any side of either the 18" or 24" goals.
• Grabs crossbar in order to manipulate paired goals.
• Simplistic, modular design makes it easy to disassemble, modify, and replace parts

Autonomous: 

Record:

 

• Record: 7-3-0 
• Rank: 1
• Finalists

• Record: N/A 
• Rank: N/A

Awards:

• Innovate Award (AZ)
• Regional Finalists (AZ)

• Video of Open Source before AZ Regional
• Video of current robot
• Video of 1 of xx autonomous modes

 

After participating in the previous year's FVC competition, FTC Team 546 (A subset of Team 1726) was ready to prove its worth in the 2007-2008 FTC game, Quad Quandary. After realizing that it was capable of creating a competitive robot for this part of the FIRST program, Team 546 began designing and building a new robot, which was loosely based off of its previous year's robot, Unnamed. The game for this year focused on scoring 3" diameter PVC "rings" on one of the many scoring areas/structures around the field.

Concept

The team was determined to create an efficient, fast scoring robot capable of harvesting a large number of rings and then quickly scoring them on any of the goals on the field. A robust drivetrain was also necessary, as defense would definitely be played against a capable offensive machine. A goal grabbing device was also considered to be important, as it would make scoring much easier without requiring as much driving or aiming.

The Drive Train

From the beginning of the season, the team looked toward its most recent FVC robot for inspiration. That year, the drive train used a 10 wheel drive set up, with the end wheels raised for tight maneuvering. During a meeting, it was discovered that an extra set of wheels could be added. After much construction, a brand new 12 wheel drive system was formed. However, after the first competition, it was discovered that complexity of this drive train made it too difficult to make repairs or modifications. As the robot was rebuilt, the team opted for tank treads, which greatly simplified work for the team. In its most recent state, the drive train is light, simple, and sturdy. Switching a motor takes a matter of seconds, and it is very easy to modify or adapt parts for a manipulator. Effiency, in this design, won out over novelty and "epicness," which turned out to be a very good decision in the end.

The Manipulator

In order to accomplish the team's goal of having an excellent scoring device, it was decided that being able to harvest, store, and then quickly score a large number of rings was essential for a top-notch machine. After prototyping, the current device was created. Being able to store up to 11 rings at a time (nearly half of the alliance's game pieces on the field) was a definite plus, as the robot was capable of scoring quickly and effectively. The manipulator is mounted on a four-bar linkage, which is powered by two motors. This design is robust and sturdy, and allows for scoring on any height goal on the field. After the team's first competition in Phoenix, the team decided to add an extendable "proboscus," which effectively increased the horizontal range of the manipulator by nearly 10 inches. This allowed the robot to score from any side of any goal, making it difficult for other robots to defend against our scoring capabilities.

Other Devices

Earlier on in the season, the robot was fitted with a "goal grabber," which held onto an 1/8 inch lip on any of the movable goals. However, after the Phoenix competition (where the goals did not have lips), a better solution was needed (the Proboscus, as seen above). The new drive train was fitted with a "funnel" underneath the frame, which when backed into a large pile of rings, allowed a neat line of rings to form in front of the robot which were easily harvested afterwards. As a final feature, the robot also has a crossbar grabber which allows the robot to latch onto both paired goals at once, making it easy to manipulate the structure and hold it within the alliance quadrants at the end of each match.

The Final Product

In its current form, the robot performs excellently and meets its required design parameters. Open Source effectively plays the game well, and is capable of serving any number of roles on an alliance. As a good all-around machine, this robot is able not only to perform well, but serve as a benchmark for future machines. Its name comes from the team's decision to disclose the robot publicly to serve as a source of inspiration for other FTC teams. Hopefully, FTC 546 (as well as Team 1726) will serve to inspire other teams with its ideals of openness and cooperation.