Reptar — 2011

He can't breath fire just yet.

Reptar is our robot for the 2011 game, LOGO Motion. It had an extendable arm driven by one BaneBots RS-775 motor and a gripper that used our patented orange belt technology also used on String Theory. The arm was able to place a game piece on any of the pegs, as well as pick them up off of the floor. Reptar had the largest number of motors of any of our past robots. (8 in total) It also used advanced sensor feedback to allow for pre-programmed arm positions.

Technical Specifications:

Weight: 120.0 lbs.
Height: 48 inches

Drive Train

– Four CIM motors
– Two two-speed AndyMark SuperShifter transmissions
– Six wheel tank drive, center wheels lowered for maneuverability
– Colson wheels

Arm

– Powered by one BaneBots RS-775 motor with 256:1 planetary gearbox
– Gripper made from orange plastic belting and BaneBots wheels
– Custom machined arm, bearings, and gripper
– Exteneder powered by a BaneBots RS-550 with timing belt

Minibot - Reptiny

– Two wheel design
– Automatic start and stop controlled by limit switches
– Deployed with sliders with bungee cord
– Released by pneumatic piston

Electrical/Pneumatics

–Two potentiometers on shoulder and wrist
– Encoder to measure position and speed of the extender
– Four limit switches to restrict arm motion and prevent mechanical failures
– Two on-board accumulators for shifting

Programming

– Autonomous mode that uses the line sensors to track the tape on the floor and ultrasonic sensor to track distance from the wall
– PID control for arm with setpoint profiles
– Preset arm positions as well as manual control
– Automatic limits for all moving parts on the arm