Helios

Team 2637 introduces its newest robot: Helios. 2637 has combined its past successes with new innovations -- adding a turreted shooter with vision while retaining to its tried-and-true WCD.

The Phantom Catz competed at Ventura County, LA Regional, and is aiming for Einstein Division in Houston.

 

Strategic Approach

At kickoff, the team determines an "ideal alliance," listing mechanisms for three robots that we believe will win an Einstein match scenario. This season, we determined having a turret, aiming mechanism, and high goal shooter as being essential in that alliance. 

Robot 1, Robot 2: Score at least 2 cargo in autonomous, shoot from anywhere on the field, and have the ability to traversal climb.

Robot 3: Score at least 2 cargo in autonomous, play defensively, hoard, and be able to traversal climb.

​Intake 

• PolyCarb Sides 
• 1 775pro motor (5:1)
• 16 Straight Flex Wheels
• 2 HTD Timing Belts
• 4 Bar Linkage
• Over-the-bumper design

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Indexer

• 2 Break Beam sensors for indexing Cargo
• 1 Lidar sensor detects Cargo entering the robot
• 8 Straight Flex Wheels
• 1 NEO 550 Motor (10:1)
• Timing Belts to raise Cargo
• 1 NEO 550 Motor (3:1)
• 3 Polycord belts to center Cargo

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Shooter

• ​​2 Falcon 500 Motors (1:1)
• Limelight
• 4 4in Green Stealth Wheels
• 2 041-DP Pneumatic Cylinders
• 2 Shooting Angles
• ​Variable Shooter Speed: Can shoot anywhere from Fender to slightly further than Launchpad

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Turret

• ​+/- 110°, 220° total
• 35 rpm (theoretical)
• 1 NEO 550 Motor (20:1 Versaplanetary)
• 140:10 Turret Gear
• ​Modified WCP design
• 3/16" Aluminum 6061 T-6 Sheets
• Limit Switch to find Center
• Hard Stops prevent over-rotation​

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Climb

Traversal Climb

• ​Inner Arm: Climber in a Box
  • ​Approx. 24" extension
  • 24.95:1 ratio
  • 1 ​Falcon 500
  • Aluminum Flip Hook
• Rotational Arm
  • ​Extension
    • 1 NEO 550 per side
    • ​25:1 ratio
  • ​Rotation​
    • ​1 064-DXP per side​​
  • Polycarbonate Static Hook

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Drivetrain

• West Coast Tank
• 2 4" Nitrile + 2 4" Colson + 2 4"Nitrile
• ​Similar CAD released on ChiefDelphi
• ​Approx.  31" x 29"
• 2 #25 Chains run from Gearbox to Wheels per side
• 4 Cams for independent tensioning
  
• ​1/16" Bellypan

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Drivetrain Gearbox

• High Gear Ratio: 17.2
• Low Gear Ratio: 8.3
• 2 Falcon 500 Motors
• ​Direct Drive to Back Wheel
  

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Previous Iterations

Indexer

• Timing Belts
• 1 NEO 550 Motor
  • ​3:1 ratio​
• Too Heavy
• Also tried Static Centering
  • ​​Not Reliable

Drivetrain

• 6" Wheels
• ​1/8" Center Drop
• Too tippy

Climb

• Central Elevator
• ​Rotational Arms powered by Spring and spooled Dyneema (NEO 550 5:1 versaplanetary)
• Too Heavy, High CG