Triforce 3 - Build Progress Thread

[TechAUmNu]

Well I already have the motor see...

And the ring was wayyyyyyyyyyyyy to expensive to change. £3k+

Overkill is good! Means I can run the motors at much lower power and stop them burning.

[maddox10]

We tested a Revolt RV-100pro unsensored on 3S driving a 20kg disk on bronze bushings today. It needed a small push to get start, but it made the revs calculated.

I'm really curious how it will act on the sensored 8S+

[emisnug]

Beautiful. I'm very interested on how the clutching system works, as that looks to be some serious force you're putting through there!

[TechAUmNu]

Beautiful. I'm very interested on how the clutching system works, as that looks to be some serious force you're putting through there!

The Clutch is a friction torque limiter from Ringspann RS50.2 it will be set to 50Nm although we will likely exceed that if we give full power, we actually don't want to run it at full power to save the motors from overheating.
https://www.ringspann.co.uk/en/files...et-RS-1465.pdf

I have a spreadsheet which calculates all the Torques and forces which says the motors produce 15Nm each so 45Nm this then has a speed increase gear ratio 0.78 to the drive gear so 35Nm. Then the drive gear to ring ratio is 4.84 giving a torque of 170Nm on the ring. Calculates max rpm is 1770rpm.

[Mouldy]

Looks great! Was looking forward to seeing the original version run.

Don't rely on the clutch slipping during spin-up if you can help it... all the time its slipping its heating up (a lot)... that heat has to go somewhere, probably directly into your weapon motors which will help them cook quickly.

Asking 3 large brushless motors to run together in perfect time is an interesting challenge, hope it works well for you guys! Id certainly design in being able to run on 2, or even one motor rather than 3 encase you run into last minute timing issues.

[TechAUmNu]

Thanks! So was I

Plan is to limit the current to the motors so they can't produce enough torque to make it slip. Something like 300A each.

We are controlling the motors with our own vescs over canbus and they are gonna either be sensored or have encoders. So they should stay in sync. We will be testing how they interact on a smaller mock up first, then if it has any problems we can change the vesc software to ensure they stay in sync.

[TechAUmNu]

Some more progress tonight. Added some shock mounts for the weapon drive block and made a top panel. Added the weapon drive shaft and way the pulleys are mounted.









Spinner teeth are below the frame.

[RogueTwoRobots]

Very nice. Is the internal weight going to be biased to one side or are there going to be skid plates/ball castors fitted? Looking at it now, it looks like when you accelerate or decelerate, the momentum is going to rock the robot forward or back around the wheel axis and throw the teeth into the floor.

EDIT: Just spotted some protruding threads on the left of the bottom image that would stop that. Similar thing to be added to the right?

[TechAUmNu]

The COG is pretty much in the middle at the moment so there will be skid plates on both sides to stop the teeth hitting the floor.
Those bolts are from the shock mounts, they are going to be cut so a nut just fits on.

[mark_m]

Great looking CAD!
Will the weapon drive pulleys be supported by the top armour or another structure? If not, I fear you may have the same issue we had on Deadlock - the motor mounts will flex due to the belt tension and it'll slip or ride off. You have less torque than us but more power and your motor mount is more flexible.

[TechAUmNu]

I still have to model the top of them properly, there will be 12mm shafts on the top coming out the hole that you can see, with bearings to support the pulleys. The hardox plate that is on top of the gear shaft at the moment will be extended out a bit. Although it is only belt tension force so it won't be very beefy. Probably 5mm wide bars connecting the tops.

[TechAUmNu]

We have decided to get a second ring for fighting spinners, this time with the teeth as part of the ring. So no welds that might break in a big impact. It also gives us a spare incase one of them gets bent.

[TechAUmNu]

Most of the new parts have arrived. So this will just be a bunch of pictures for now as I still need to properly assemble everything.

[TechAUmNu]

And the rest

[Lbitten]

That's a really good CAD rendering

Looks awesome though! I'll be interested to see it spinning up for the first time