Prushashlisha FRC team 1989 2020 build season pics

Our Season has ben canceled due to COVID-19 so I figured I make a post about our robot that we printed on our 2 Anycubic Chirons. But first some info. The team decided to name the robot Prushashlisha probably cause that is what it sounds like when I say Prusa Slicer which is the software we use to turn our inventor generated STL’s into gcode to print it. Our goal was to have our robot shoot and climb and we pretty much achieved those goals even though – unfortunately – not battle tested. And there are ongoing improvements. So without further ado…

First test with the shooter mounted to the robot

First climb test – at that time without limit switches

GT2 3d printed pulley next to aluminum one – 3DP so we can have custom sizes

Ball intake with 3DP 2.5in Mecanum wheels

View at the Electronics board through the conveyor

Look down the climber at the 3dp winch powered by a Cim and toughbox mini the winch is 50mm in diameter and so is the 78 tooth GT2 pulley part of it. The GT2 belt deploys the hook the rope does the lifting

Look at one of the climbing hooks on top of the robot. Also view of 1/2in conduit to protect the cabeling

Full view of robot before adding braces and extra stiffening in case we had to play D (as we had plenty of weight left to play with

Close up at conveyor and laser cut 1/8 in aluminum plate for added stiffness and lowering center of gravity

First test hook broken to get some data and to inspect the inside to verify the quality of us printing “solid” that means as close as possible as you can come with an FDM printer to injection molding. Nice clean break with a little trailing edge due to the camfer as it should. All in all an indication that the print has great layer adhesion both vertically and horizontally

Winch with 78 thooth GT2 pulley and ratchet teeth before cleanup bench tested to hold 300lb

View at the bare frame with wheel (skateboard) 3DP HIPS and aluminum (1/2in 3/32 wall square tube) composite We later replaced the rear wheels with omni wheels

One of the toughbox mini axle holders being printed (about 30% done)

Overall there is about 14 kg of HIPS in the 3DP parts. All parts have been printed with a .8 nozzle. We used a little over 40 kg of HIPS so far this season some went into prior iterations and tests and some into spare parts. We have almost a 2nd robot in spare parts – at least regarding the plastic pieces. The whole robot without bumpers and battery currently weighs 116 lb. all the inventor files and STLs are at https://grabcad.com/library/frc1989-infinite-recharge-1 . Also check out the tutorials in regards to dialing in filaments and selecting nozzles at https://workbench.grabcad.com/martin.pirringer-2/tutorials

The Prusa slicer config file is in the root “infinite recharge” root at the above grabcad link