Cherubim

[craig_colliass]

Re: Cherubim

One of the new lifting arms they are made of 10mm Hardox type steel I could not drill them!!!
They have been bent to a similar profile to the old ones note the large lug on the top of the
new design this is to help the robot move when flipped upside down as they will keep the front higher
so the wheels at the back can touch the ground.

[razerdave]

Re: Cherubim

Sorry to hijack your thread Craig, but I thought you'd like to see this but you don't read the antweight section:


I call it 'Saint Jimmy'

http://www.youtube.com/watch?v=ZPzOyGw9CMw

[craig_colliass]

Re: Cherubim

Looking very nice Dave
Looking forward to seeing it go at one of the shows.
welcome to the world of not knowing which way is
Forward

[craig_colliass]

Re: Cherubim

Fitted new shaft and the new lifting arms, sorted out the welding to fix the armour.
the relays that control the lifter are going to be changed for a speed controller, I just like the idea!!
If all goes well should be ready for testing at Barnsley

[craig_colliass]

Re: Cherubim

Pictures 1 and 2 showing the new shaft 30mm and the new lifting arms 10mm Hardox type steel.
Also the Wotty 180 that was in Saint is now powering the Cherub with a BR6000 receiver, The Saint now has a Wotty 360.
Picture 3 shows the armour for behind the wheels 6mm Hardox Just for Kan Opener

[craig_colliass]

Re: Cherubim

Just fitted the speed controller for the lifter all works OK.
I am waiting for the solid state relay to sort out the motor break but if that dose not come in time then I will just disconnect that for the moment.
The Wotty 180 is working well on the drive so all looks OK for A Barnsley test.

Dose anyone read this?

[botmad]

Re: Cherubim

Yes Craig i do and all is looking very good
hope the hardox lifters last longer than the steel ones did last time ...

[joey_picus]

Re: Cherubim

Dose anyone read this?

I do just don't comment often as heavyweights aren't my field...it does look fantastic and I am very much looking forward to seeing it in the flesh at Barnsley.

[craig_colliass]

Re: Cherubim

Yes the flanges were cast steel they were a temporary fix for RIAT the new ones are 10mm Hardox type steel that I could not drill and the foundry could not bend with out heat!!!!

[craig_colliass]

Re: Cherubim


All done ready for Barnsley WARNING this robot could damage other robots handle with care!!

[craig_colliass]

Re: Cherubim

http://www.youtube.com/watch?v=AxUCCWX2G34

[craig_colliass]

Re: Cherubim

After the Barnsley Event, some work and modifications to Cherub was needed.
On the whole the robot worked OK. Only a chain link broke in one fight,

I have screwed the battery box to the under tray of the robot as it got bits of Jonno's arena stuck between, this pushed
the tray even lower and fouled the floor slowing down the robot.
Also I am trying some wheels on the lift arms so when I have Beast on board again I can drive over to the pit and
dispose of it there!

I hope to get some tyres from Oxford soon and inner tubes for the drive wheels and then see how it dose
in the next event.

[craig_colliass]

Re: Cherubim

I had decided to either scrap Cherub or rebuild it. After some thinking I decided to rebuild but it was close.

The good bits
The basic principle seems to work OK.
The drive motors with gearboxes and wheels work well.
The shape and armour seems to take the Thor test OK

The bad bits
The lifting system is unreliable (chain snaps too often)
The lifting system is far too slow.
Batteries don't seem to last the fight.
Inner frame is far too week this gets bent up every time.

The Work I am hoping to do on the robot.
Make a torque limiter to reduce the likelihood of chain breakage.
Change the lift motor and gear ratio so the lifter will operate much quicker 1/4 turn in 1/2 second!
Lithium-ion batteries.
The Inner structure of the robot will be completely re-done no more 25mm box section rubbish this time it will be 5mm armour bulkheads, Thor proof hopefully

[Max]

Re: Cherubim

When I asked I was told that you weren't allowed lithium ion batteries

[craig_colliass]

Re: Cherubim

Lithium-Ion are A123 batteries, I think these are allowed
The batteries you are thinking of are Lithium-polymer batteries these are not permitted in heavies at the moment.
Though I believe LiPo batteries are being tested on the heavy weight robot Big Nipper so soon they may be