VEX Round Up Champion Team 1103 – Compound Chain Lifting Mechanism
With the release of the 2014 VEX SkyRise challenge , mechanisms and strategies for lifting are a hot topic among potential competitors! We have fielded many inquiries about the lifting mechanism from Team 1103’s robot which won the 2010 championship. 1103 is one of the most successful VEX robot designs and lifting mechanisms ever created! No doubt there are some excellent lessons and principles in the design of the 1103 robot that could apply to Skyrise.
Team 1103 is a rarity – a one man team. Joshua Wade – whom we interviewed in 2011 – is the sole team member. Team 1103 has won several regional contests and awards including the 2010 VEX robotics Programming Skills Challenge World Champion and the 2011 Vex Robotics National Champion for the 2010-2011 Round Up season.
The 1103 robot uses a compound chained linear slide lifting mechanism reaching 40″ high. The base of the claw lifts to 23″ off the ground. Principles of this lifting design as well as other lifting concepts are available in Intelitek’s Robotics Engineering Curriculum (REC 2 Unit 11 – Lift Systems).
The purely vertical multiple-stage lift uses 17.5″ slides cut to 15″ and operates using a total of six 269 motors coupled in three sets of two motors. Each motor is linked to a single output shaft with a 1:1 ratio.
REC 1 Unit 3 – Gears and Gear Trains explains the physics principles involved in designing gears and gear trains. The output gearing is reduced with 2 sets of 1-1.5 reductions using 12, 18 and 24-toothed cogs. These motors and gears provide enough power to lift the entire robot off the ground.
The exceptional programming was performed using Intelitek’s EasyC V4 for Cortex programming software. The intuitive environment of EasyC allows users to quickly learn skills needed to become an advanced programmer.
The 1103 robot program utilizes PID control giving the ability to hold the lifting mechanism using feedback from a quadrature encoder and limit switch which control the position of the lift. Wade wrote the program using the easyC sample file “PID Interrupt Service Routine” modified for the quadrature encoder. PID control loops hold the arm position at six different increments giving the operator quick and easy points to maintain elevation of the arm and hold the ring pick up position. This delivers the ability to score (and de-score) on both the floor weeble goals and wall goal posts, offering excellent application for the Skyrise challenge!
Team 1103 is a great example of the unlimited potential students have when engaged and motivated by their educational environment. The success shows that competitive robotics is the means of providing that environment for many more students.
You can check out the 1103 robot in person at our upcoming events, including the SkillsUSA National Championship June 25th and 26th in Kansas City, Mo!