FIRST FTC Robotics Team 7244 Out of the Box Robotics, Skystone Challenge 2019-2020 by Lander Holsinger at Coroflot.com

FIRST FTC Robotics Team 7244 Out of the Box Robotics, Skystone Challenge 2019-2020

FIRST FTC Robotics Team 7244 Out of the Box Robotics, Skystone Challenge 2019-2020 from Lander Holsinger

FIRST FTC Robotics Team 7244 Out of the Box Robotics, Skystone Challenge 2019-2020

My Skystone season robot, mechanical design anchor and robot driver. I produced all CAD and 3D printed components using Solidworks student edition and my Prusa I3 printer. I also helped retrofit and program a wood router to cut Aluminum. See the game reveal and video and footage of out bot embedded at the end. The game reveal is released in September when the season begins. I designed the catamaran, holonomic drive train over the summer mostly because our previous drive trains were drop center (west coast) so I wanted to do something different but also there were hints dropped on social media about the upcoming challenge. A holonomic will drive will work always, it's weakness is getting pushed around by opponent robots. With the full season ahead I was able to focus on our 4-bar actuator, claw and lift.
We were one of two undefeated teams at the PA state championship. Awarded several design, outreach and inspire awards from PA & NJ. Awarded bid to world championship in Detroit.

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FIRST FTC Skystone Challenge 2019-2020

Our 2019 - 2020 Skystone Season Awards & Recognitions

This was an early vision of the robot, cool lines and profile. I thought we would have room underneath for controls but we had to go vertical with the angled "7244" manifolds and use the vertical space to mount controls, less form but more function was the end result. It made the whole robot look boxier, check out the end result on the next slides. As far as industrial design I was not as happy with the end result but it functioned great.

The three important design elements. The lift is a five stage Misumi slide. The block intakes are powered rollers on actuator servos for opening and closing. The block transport is a virtual 4 bar mechanism that worked flawlessly throughout the season.

To get ready for MTI we wanted a 14 story lift. There was no room for another slide and not enough time even if there was. I designed and printed stand-off pulley mounts, (see next slide) that allowed me to get another 5 x 3/4" travel out of the existing lift, enough for a 14 story stack...problem solved! See the next slide for the lift extended for a 14 story stack.

14 story stack before MTI in June

Love this rendering

Me, in the middle of build season 2019-2020. Senior at Lampeter Strasburg HS

Custom designed and fabricated drive train

I love the rendering on this...better than real life and the depth perception is awesome.

4 motors for 4 holonomic wheels. Each wheel must be powered independently for a holonomic drivetrain

The final package, ready for the mechanics to go on top. The final product is a lot like the CAD.

Our block intake

Custom designed PID encoder odometry pods. I custom designed two of these (X and Y direction) using a custom 3D printed manifold, commercial omni-wheels (world's smallest from Australia), magnets and sensors I hacked from a commercially available PID sensor. The odometry pods give feedback to the controller that then uses software to compare where the robot actually is vs. where it should be and makes corrections as needed. Robots can auto correct themselves in autonomous mode for drive train slip and even if they run into something. FTC7244 was awarded the Control Award at Velocity Vortex World Championship in 2017.