Into The Deep (2024 - 25)

Thanos:

Iterative design process ensured reliability and goal alignment.
System comprises 8 motors and 9 servos, allocated for driving, intake, and slides.
Servos utilized for hanging, arm and claw rotation in X, Y, and Z axes, intake alignment, block alignment, and.
Utilization of Misumi SAR 320 slides, Gobilda Viper Slides, BWT Slides
3D-printed: arm + claw rotating system, Intake, wiring linkages, and hangers
Features include: block stopper, precise linkage prints, custom gears, multi-material spokes

Awards & Achievements:

2024 - 2025 Rose City League Qualifier 1st Motivate Award
2024 - 2025 Spark Invitational 1st Inspire
2024 - 2025 State Qualification
2024 - 2025 Michiana Premier Invitation
4 Specimen and 4 Basket Auto

Standard Intake

Throughout the season, our intake system went through major iterations based on extensive testing and feedback. Early on, our intake collected samples flat to the ground and also had an unreliable transfer system. We met with a mentor from Daimler Truck to discuss how we could improve our intake. She suggested that an intake that can collect samples without touching the ground is ideal. Using her suggestions, we created a new intake design (image on the left) that can collected samples without touching the ground. However, we noticed that samples could still get stuck and fall out, so we added foam padding and cadded funnels inside the intake to stabilize sample positioning. Later, we replaced spokes with TPU compliant rollers to prevent samples from sliding back inside the intake and integrated a distance sensor and a REV color sensor to automate intake control. These changes allowed us to intake samples in under a second, dramatically improving our cycle times. Our final intake was fast, reliable, and could intake from multiple angles without dropping samples.

Deposition Arm + Claw

Our deposition system faced a lot of challenges early in the season, starting with a slow and poorly supported arm that rotated to pick up and clip specimens. After some experience at the early league meets, we realized that waiting for the arm to completely rotate wasted a lot of scoring potential. Due to this, we switched to a design that just rotated that claw. This design also incorporates horizontal slides to push the claw back and forth using a linkage. Initially, the claw was bulky and rotated awkwardly, forcing us to clip upwards, which wasted time. After seeing these problems in competition, we redesigned the system by adding a wrist servo for 180-degree rotation (this enabled us to clip downwards) and geared the system for higher torque. We also shrunk the system's size for better stability and redesigned the claw with notches to prevent specimens from slipping during transfer. Direct-drive Axon servos replaced our earlier slipping gears, giving us faster and stronger clipping action. These improvements allowed us to clip samples much faster and more securely, directly improving our scoring potential. The final deposition system could consistently clip specimens in one smooth motion under match pressure.

Custom CNC Chassis

At the start of the season, we used a goBILDA strafer chassis. However, we found that using this chassis created space problems with all the attachments we were planning to add on our robot. Due to this, we prototyped a custom chassis using laser-cut wood plates, but it bent under load and couldn’t securely hold all our mechanisms. We decided to manufacture our design out of custom CNC aluminum chassis using laser-cut 5 mm plates, which added rigidity and protection without making the robot too heavy. added specific routing holes for wiring, which helped with clean electrical layout. We also switched to Swyft drive modules for direct drive, improving speed, compactness, and reducing drivetrain backlash. The new chassis allowed us to mount our vertical slides, intake, and drivetrain more tightly, making the overall robot slimmer and more maneuverable. During testing, we found that the rigid structure protected internal mechanisms during collisions and was easy to repair if needed. Our custom chassis was a major factor in making our robot robust and consistent throughout the season.

Hanging Mechanism

Our initial hanging design used the deposition arm to latch onto the Level 1 bar, but it limited our scoring potential. As we progressed, we realized we needed to increase our scoring by improving our ascent level. We designed a dual-hook system: one set of hooks mounted to vertical slides for stability and another mounted on a rack-and-pinion module for strength. This new system allowed us to complete Level 2 ascents consistently while stabilizing the robot during the climb. By shifting the hang points closer to the center of mass, we prevented the robot from swinging dangerously during ascent. We also reinforced the slide structure to better absorb the load of hanging without damaging other mechanisms. Our final ascent design gave us reliable climbs that didn’t sacrifice cycle time or damage the robot.

Vertical + Horizontal Slide System

This season, our robot utilized a dual slide system to collect and transfer blocks in all three axes. Using Gobilda Viper, Misumi Sar 320, and Bwt Slides, we were able to decrease transfer to deposit time and reach further across the field. Moreover, the system helped decrease autonomous drift due to less movement and aided drivers in speedy cycling. In the end, we maintained a reliable and sophisticated system that upped our game!

Swift Drive System

This season, we chose to use Swyft drive modules to improve the compactness and performance of our drivetrain. Unlike traditional setups, the Swyft modules combine the motor and gearbox directly into the wheel, allowing for direct drive with minimal backlash. Early in the season, we noticed that belt-driven systems took up a lot of internal space and made wiring difficult, so switching to Swyft modules solved both problems at once. The 475 RPM motors gave us a high top speed without sacrificing too much torque, which helped us cycle faster during matches. Additionally, the smaller footprint of the modules allowed us to design a slimmer robot, fitting our intake, vertical slides, and other mechanisms more tightly within the chassis. Through testing, we found that the Swyft modules were highly reliable during collisions and required little maintenance compared to other drivetrain options. Overall, the switch to Swyft drive modules was a major factor in making our robot faster, more agile, and more durable.

Mechanical Mages 24-25 Season Portfolio

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