Team Kaizen Build Diary

[Ocracoke]

I've think figured this out. It is remarkably genius (for me) if it does.

The problem I've been having is that I want it all on one stick like how I have it now but I am no electronics engineer. However, thinking about it, any single channel ESC that can drive the low end of the relay should work and you can get ESCs that go up to 30 or so volts with relative ease, it is only the amperage that is the issue. So then it is time to think logically. If moving the stick one way makes the ESC spin a motor forwards, polarity must be reversed when doing the opposite.

For a bog standard normally open relay, I get the impression which way around the polarity is doesn't matter. So, connecting two low ends of a relay to a ESC means they'll both turn on regardless of which way around the polarity is. So assuming that, adding in some diodes on the low end of the relays (where a set of 4 is specific to a specific polarity, one for each port of the low end of the relay and the other set is the reverse) and it *should* work. Even adding in a variable resistor on the backwards motion is a potential option for a soft return.

I've not tried this yet but wanted to make sure I wasn't being idiotic before committing to this. Does the above sound logical?

[team death]

I remember buying a couple of solid state relays a while back similar to this which I was going
to run off servo switches but there is no reason they won't work off a ESC-are we singing from
the same hymn page Lucy or am I miles away.
https://www.ebay.co.uk/itm/Teledyne-...gAAOSwqwheM0yF

[Ocracoke]

We are indeed on the same page Colin, I had that sort of relay in mind though a solenoid might be better for higher amperage peaks? I have a circuit diagram made up for this but I am going to see if I can simplify it down to two relays and four diodes rather than four and eight respectively before buying anything.

Need to get cracking through, the A28-400 motor arrived yesterday. Just waiting on some gearbox parts before assembly.

[team death]

Sounds like the same dilemma I had at times, I found a floating polarity changer saved my bacon on

many occasions but at 200 amp peak you will need an alternative to that.

Looking forward to see what solution you come up with and will definitely be curious to look at the

set up when finished.

[Ocracoke]

I've reworked the circuit diagram and I think I have it down to 2 relays and 4 diodes so I've ordered some supposedly 400A peak relays and some 50V diodes. I've already got a ESC capable of handling 30V anyway so for a prototype, that'll do. If it works, Azriel will get a controller as well when it goes to a rebuild.

[Mr Manuva27]

Perhaps a bit late, but this was posted in the OOTA discord server by Mike Jeffries (former captain and driver of Bombshell on Battlebots) about upgrading his FW robot Nyx to a modular hammer/lifter/grappler.

He describes his process about getting as much power from the axe motor without causing too much shock to it. Even uses a lower powered variant of the same motor you have. Not sure how useful it will be to you, but interesting reading nonetheless.

https://www.instructables.com/id/Nyx...Robot-Re-Made/

[Ocracoke]

Looks good, I still have a A28-150 motor laying around that I was planning to put into Azriel after Dojo if that goes ahead. I want more power in the axe with a better reduction really speaking. Just want to see how the current setup runs now.

[Ocracoke]

Azriel
So it is practically finished now barring a locking pin and sorting out the drive wheels but this is pretty much how I intend it to look at Dojo next weekend if it is still going ahead. Its a completely different beast to the 0.9 variant from last year but it does still need a metal axe on it. For the moment, the HDPE axe will have to suffice but here is Azriel 1.0 next to a familiar looking creation...

azriel_and_the_honey_badger.jpg

[RogueTwoRobots]

Dojo as in the one on the 19th? As far as I'm aware it's still going ahead but it's also pretty much spinners galore!

[Ocracoke]

Yeah, the one on the 19th.I know it'll be spinners galore... I'll bring a binbag :P No, it'll be OK.

[James Williams]

I'm going to the Dojo this Sunday (12th) & Ian mentioned that they're keeping the arena up over the next few weeks so it's definitely going ahead. If they haven't been it touch it's most likely because they're busy setting up for this one. If anyone wants advance info just shout. (Note you'll need to take personal toiletries & masks/gloves etc for social distancing reasons).

Go get 'em.

[team death]

I'm hoping to get along on the 12th too James and opted to help with putting up of the arena,any idea what

time on Saturday they will start erecting as I have not heard anything-Maybe its up already?.

Ian did say he wasn't one for to and fro messaging but I think it's vital to keep

in touch but I will go along Saturday afternoon if I don't hear anything .

[James Williams]

Hey Colin

I was under the impression that the arena was being built tomorrow starting at 2pm. Ian did mention he was getting the units cleared up & ready today so I imagine he hasn't had chance to message you with the details yet.

See you Sunday

[Ocracoke]

Azriel
Locking pin has been fitted, wheels have been better secured to the robot and nyloc nuts fitted to the axe arm. Azriel 1.0 is officially "finished" with a little under a week to go before the event. It is a big transformation over the 0.9 variant seen last year and I'll be honest, I am rather pleased with it. For those that didn't see it before, here is the 0.9 variant...

azriel_0.9.jpg

...and here is the 1.0 variant.

azriel_1.0.jpg

If there are any tidying up jobs to do, it's probably on the front wedge panel. I had hoped to stage a mock battle between Azriel and The Honey Badger 1.0 as it was a little over three years ago that I (re)started my foray into fighting robot combat at RL Grantham 2017 (1st and 2nd of July of that year! How does time fly?) but that didn't happen.

I'll see if I can get someone to record what happens at Dojo.

[James Williams]

Alex was recording all of the fights yesterday so I presume he'll do the same next week.