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madoverlord:robots-anorexia [2016/05/14 19:36]
madoverlord
madoverlord:robots-anorexia [2016/10/04 14:42]
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-==== Anorexia Build Report (Robots) ==== 
- 
-The genesis of the Anorexia design dates back to BattleBots 5.0.  Based on what I learned 
-at the competition,​ I had the idea to build an ultra-small,​ ultra-thin robot. ​ There were 
-two reasons why I felt this would be a valid design idea; first, such a tiny robot would 
-be hard to hit, and second, the smaller it is, the thicker the frame and armor can be 
-for the same weight. ​ Also, as this was the first robot I would completely design and 
-construct from scratch, I wanted to make it both simple and a learning experience as 
-I progress towards competence (or at least, the appearance of competence) in machining. 
- 
- 
- 
- 
-After some initial research, I came to the conclusion that an internal height of 
-about 1.5" was about the skinniest a robot could be without getting totally insane. ​ The 
-main governing factor is the size of the motors, and the smallest motors available that 
-have enough power to shove around a robot are all in the 1.3-1.5"​ diameter range (for example, 
-the [[http://​www.astroflight.com/​whatsnew.html|Astroflight 915]]). 
- 
- 
- 
- 
-However, availability problems with the Astroflight,​ coupled with rumored fragility 
-on the part of their planetary gearboxes, put the plan on hold during the fall.  Until I had 
-a drive solution, I was out of luck. 
- 
- 
- 
- 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01455.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01455.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01456.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01456.jpg"></​a></​html>​ 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01457.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01457.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01458.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01458.jpg"></​a></​html>​ 
- 
-Then, at [[madoverlord:​robots-robocide|Robocide]],​ I found out that the 
-gearheads at [[http://​www.teamwhyachi.com|Team Whyachi]] 
-had come out with a new gearbox, 
-the [[http://​www.teamwhyachi.com/​TBox.htm|T-Box]]. ​ A scaled-down 
-version of their TWA-40, it was exactly (wait for it...) 1.5" high, drives a 2.25" wheel, 
-and is designed to use standard "RC Monster Truck" motors; I eventually picked the 
-[[http://​www2.towerhobbies.com/​cgi-bin/​wti0001p?&​amp;​I=LXWR55&​amp;​P=7|Trinity 
-Monster Maxx Mild]] motors, $45 each from Tower Hobbies. ​ The RC car industry is also 
-starting to get into brushless and cobalt motors, so if more torque or speed is needed, 
-I could go to something like a [[http://​www.hackerbrushless.com/​motors_c40.shtml|Hacker 
-C40]] or a [[http://​www.hobbyracer.com/​mpi-26.htm|Promax Cobalt 
-Speed 400]]. ​ But for now, the Trinity motors look to be more than peppy enough, 
-considering there will be 4 in the robot. 
- 
- 
- 
- 
-After a bit of research, I settled on 1 1/2 x 9/16 x 3/16 Steel "​C"​ Channel as my frame 
-material. ​ 3/16" of solid steel is plenty beefy, and the 9/16 flanges make it even stronger. 
-Channel is definitely the way to go when balancing strength to weight. ​ Because my wheel diameter 
-is only 2.25", I could only spare 1/8" top and bottom for armor, leaving 1/4" wheel clearance 
-both normal and inverted. ​ Should be enough. 
- 
- 
- 
- 
-Firing up a spreadsheet,​ I did some weight calculations. ​ Clearly, the smaller the robot, 
-the lighter it is going to be.  Assuming a square robot, for every 1" reduction in the length and width 
-of the robot, I save 4" of perimeter channel, and make a big reduction in the size of the top 
-and bottom plates (going from a 16" to a 15" square reduces the size of the armor plates from 
-256 square inches to 225 square inches). 
- 
- 
- 
- 
-After a bit of fooling around, I figured out that a 14x14" plate (with channel inset, so 
-12 7/8 x 12 7/8 x 1 1/2 internal space) was about as small as I could comfortably go, in particular 
-since I wanted a speed controller on each motor, and plenty of batteries (4 custom 7.2V 
-[[http://​www.battlepacks.com/​|BattlePacks]] hooked in pairs to provide over 6 AH at 
-14.4V; overkill for now, but I'm thinking ahead, as you'll see). 
- 
- 
- 
- 
-Assuming aluminum armor plates (with small steel plates over the motor mounts) as well as 
-aluminum stiffening struts front-rear and left-right, my weight calculations came in at 28.27 
-pounds. ​ And that was with a bit of a fudge factor against the inevitable weight creep, and before 
-weight-reduction hole drilling. 
- 
- 
- 
- 
-Wow! I could do a 30lb'​er that would basically be a brick! ​ And still have a 1 3/4 pounds 
-for extras like a wedge. 
- 
- 
- 
- 
-It was then that the design came together. ​ I'd build the brick, and then build a set of 
-add-on weapons. ​ The brick would be the drive, power and control module, and the weapons would attach 
-via a set of hardpoints. ​ I'd do simple ones at first, compete as a 30lb'​er,​ then based on the 
-experience gained, build additional weapons, and perhaps upgrade the motors, and compete in the 
-lightweight class as well.  Or even build a duplicate bot and compete as a multibot. ​ And all that 
-battery juice could even be used to power some active weapon modules... 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
-=== Construction === 
- 
- 
- 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01459.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01459.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01460.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01460.jpg"></​a></​html>​ 
- 
-As the various parts I needed trickled in, I began construction. 
-Step one was to make some 1/2" ID spacers to hold the wheels on in the right place. ​ Lowes had just 
-what I needed, but I beveled one end on my 
-[[http://​www.sherline.com/​|Sherline]] lathe so that it matched up with the inner race of 
-the bearing in the gearbox. ​ The first image shows a cute trick, using a metal flat to get the 
-spacer perfectly aligned in the chuck; you just get it snug, then turn on the lathe and press the 
-flat against the piece, and the vibrations walk it into perfect alignment. 
- 
- 
- 
- 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01461.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01461.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01462.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01462.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01463.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01463.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01464.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01464.jpg"></​a></​html>​ 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01465.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01465.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01466.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01466.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01467.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01467.jpg"></​a></​html>​ 
- 
-Next, I did a lot of drilling and tapping to 
-create the various frame pieces. ​ There are 12 bits of channel in Anorexia; the front/rear and 
-left right edges, and 2 small bits that partially surround the each of gearboxes. ​ These small 
-support elements are included for several reasons. ​ First, even though the gearboxes have only 
-top and bottom mounting holes, they provide positioning and support for them.  Second, for 
-extra gearbox support, as well as frame rigidity, on the top corners of the robot, just over the 
-gearboxes, the aluminum armor is replaced by a steel plate. ​ This provides a much more rigid 
-mount for the motor, as well as stiffens the whole frame. 
- 
- 
- 
- 
-The plan is to get the whole thing bolted together and tweaked out just perfectly, and then 
-weld the steel. 
- 
- 
- 
- 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01468.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01468.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01469.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01469.jpg"></​a></​html>​ 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01470.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01470.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01471.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01471.jpg"></​a></​html>​ 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01472.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01472.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01473.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01473.jpg"></​a></​html>​ 
- 
-The bottom plate was precut by my friendly 
-local metal supplier. ​ Turned out I gave them slightly wrong dimensions for the notches needed 
-for the wheels. ​ I had originally planned to CNC drill the top and bottom plates, but my source 
-for free CNC work was stacked, so I decided to hand-drill the bottom plate. ​ Made a few minor 
-mistakes, but a bit of dremelling fixed that.  I was originally planning to use flathead cap 
-screws, but the precision required, not to mention the huge amount of countersinking I'd have to do, 
-made me move to buttonheads (and accept some minor loss of ground clearance), at 
-least for the time being. ​ If I make new armor plates, and can CNC them, I'll try countersinking. 
- 
- 
- 
- 
-Preliminary assembly went well.  Note the different lengths of the rear gearbox supports; 
-I forgot to cut the right number of these when I was at a friend'​s shop using his chop saw, so I 
-made them using some scraps, and will cut them down when I go to weld.  You can also see one of 
-the motor mount plates. ​ They bolt to the front and side frames, rest partially on the gearbox 
-supports (the tapped holes in the supports are for bolting on the armor), and will be welded over 
-most of their perimeter eventually. 
- 
- 
- 
- 
-I also built some aluminum stiffening members (upside-down T stock). ​ These serve two purposes; first, they 
-fit very snugly in the robot, and transmit stress from a direct impact in the center of one of 
-the edges to the other side of the robot, reducing the chance of buckling. ​ Second, they keep the various 
-bits of the robot from sloshing around, and all the weight 
-reduction holes drilled into them are handy for threading wires. 
- 
- 
- 
- 
-I'm also planning on using all the victors I have left over from the first robot, one per motor. ​ Running such a 
-small motor at only 14.4V, they shouldn'​t even get warm, but if they do, if I slightly trim down the 
-fan mounting posts and use half-height fans, I can get them to fit in the 1.5" space -- barely. ​ I'd 
-have to drill some ventilation holes in the armor. 
- 
- 
- 
- 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01474.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01474.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01475.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01475.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01476.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01476.jpg"></​a></​html>​ 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01477.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01477.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01478.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01478.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01479.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01479.jpg"></​a></​html>​ 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01480.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01480.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01481.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01481.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01482.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01482.jpg"></​a></​html>​ 
- 
-Some last details and I'll be ready for 
-my first test assembly. ​ First, I drilled out all the motor mount plates using the first one 
-as a template. ​ Lesson: you can never have too many sets of step blocks! 
- 
- 
- 
- 
-Then I drilled and tapped all the various weapons mount hardpoints, as well as two small 
-holes in each side for threading electrical connections. ​ I used the cute "shift the base while 
-the drill is in a previously drilled hole" trick to precisely space the holes even though the 
-Sherline mill isn't quite wide enough to handle the whole piece. ​ I also made myself some 
-matched spacer blocks that came in very handy. 
- 
- 
- 
- 
-The wheel holes needed to be 7/8" in diameter, and there was no way I was going to be able 
-to get a 7/8" drill bit with a 3/8" shank, the largest the Sherline will take.  I was resigned to 
-having to schlep to the "​real"​ machine shop (and hope their non-CNC mill motor, which had 
-conveniently blown the week before, was fixed), when I noticed this nifty step-drill at Lowes 
-for 30 bucks. ​ It worked like a charm, and cut through the steel like butter; I just had to be 
-careful that the tip didn't hit the mill!  As you can see, the motor shafts (and my spacers) 
-fit the holes just right. 
- 
- 
- 
- 
-The step drill also came in handy when drilling out some unneeded metal in the gearbox 
-supports, as well as enlarging some of the lightening holes in the aluminum braces. 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
-=== Valentine'​s Day Assembly === 
- 
- 
- 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01489.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01489.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01491.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01491.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01492.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01492.jpg"></​a></​html>​ 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01493.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01493.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC014/​DSC01494.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC014/​DSC01494.jpg"></​a></​html>​ 
- 
-With all the bits mostly built, 
-I had to put Anorexia together to see if it would work, and get a better idea of what's left to do. 
-And surprise, everything went together like a charm! ​ I was shocked... shocked! ​ The bolts in 
-the frame are just placeholders for the hardpoints, by the way.  And those little white booties 
-around the motors are strips of tyvek from an old floppy-disc sleeve, the purpose being to make 
-sure the motor wires don't touch the frame -- this would be "a bad thing"​. 
- 
- 
- 
- 
-I was even more shocked when I lugged it down to the garage and tested it.  The darn thing 
-worked! ​ Very controllable,​ very powerful, and very fast! 
- 
- 
- 
- 
-But this was as nothing to my shock when I weighed it.  Even with those gearbox supports that 
-I have to cut down (and haven'​t drilled out yet!), it comes in at a skinny 26.5 pounds, almost 2 
-pounds under my estimate. 
- 
- 
- 
- 
-2 weeks until Battle On The Beach, and all I have to do is weld it up, attach the top armor, 
-build a wedge attachment (and anything else I can think of...), and paint it.  I might just make it! 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
-=== Battle On The Bugs === 
- 
- 
- 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC015/​DSC01547.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC015/​DSC01547.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC015/​DSC01548.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC015/​DSC01548.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC015/​DSC01550.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC015/​DSC01550.jpg"></​a></​html>​ 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC015/​DSC01551.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC015/​DSC01551.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC015/​DSC01552.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC015/​DSC01552.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC015/​DSC01553.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC015/​DSC01553.jpg"></​a></​html>​ 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC015/​DSC01554.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC015/​DSC01554.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC015/​DSC01555.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC015/​DSC01555.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC015/​DSC01556.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC015/​DSC01556.jpg"></​a></​html>​ 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC015/​DSC01557.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC015/​DSC01557.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC015/​DSC01558.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC015/​DSC01558.jpg"></​a></​html>​ 
- 
-I had a great time at Battle On The Beach. 
-[[madoverlord:​robots-REDMENACE|Red Menace]] lost again, but Anorexia had better 
-luck; I won a fight, lost another in a 23-22 split decision, engaged in Bunny Soccer (our side were 
-all running the T-Box), and had a 
-great grudge match with Eat Hitch and Die. 
- 
- 
- 
- 
-Robot debugging consumed a lot of my time.  The first problem was that the insides of the 
-bot got so hot that the endbells of the motors started melting (the tyvek booties just vaporized!). ​ After my first fight, I'd used up 
-all my spare motors; thank goodness for overnight delivery from Tower Hobbies. ​ This issue was solved 
-by drilling a lot of vent holes in the top and bottom plates. ​ Not horribly pretty but it worked. 
-I also reconfigured the transmitter so that most of the time, the robot ran on 7.2v instead of 14.4; 
-it appears that the hobby motors really can't be overvolted for long periods of time. 
- 
- 
- 
- 
-My second battle was with an intermittent short in the PWM cables, one of which 
-had melted due to the heat in a non-obvious way, smoking my mixer (but not, thank goodness, my radio!). 
-Lucky for me [[http://​www.teamdelta.com/​|Dan Danknick]] had a trunkfull of 
-spares. 
- 
- 
- 
- 
-And then I had to deal with radio range problems, which I eventually fixed by mounting a 
-Dean's antenna on the side of the robot. 
- 
- 
- 
- 
-Apart from these issues, the robot performed very well.  It was fast, responsive, and very 
-sturdy. ​ The only damage sustained was a slightly bent axle, and that could have been fixed onsite 
-if need be.  Fortunately,​ Terry of [[http://​www.teamwhyachi.com/​|Team Whyachi]] had 
-an extra. 
- 
- 
- 
- 
-Am currently preparing for the April Robot Club & Grille event, but it's mostly some 
-very minor tweaks. ​ In particular, I'm building an anti-spinner attachment. 
- 
- 
- 
- 
-I am also going to test the [[madoverlord:​robots-SMALLJOHNSON|small johnson motor]] 
-to see if it works well with the T-Box. ​ If it does, great, because they look to be sturdier, more 
-powerful, and [[http://​www.robotcombat.com/​marketplace_motorsmisc.html|cost 
-only $3.50]]. ​ Such a deal. 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
-=== Robot Club & Grille April Tournament === 
- 
- 
- 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC016/​DSC01658.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC016/​DSC01658.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC016/​DSC01659.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC016/​DSC01659.jpg"></​a></​html>​ 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC016/​DSC01649.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC016/​DSC01649.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC016/​DSC01650.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC016/​DSC01650.jpg"></​a></​html>​ 
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC016/​DSC01651.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC016/​DSC01651.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC016/​DSC01660.JPG"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC016/​DSC01660.jpg"></​a></​html>​ 
- 
-Anorexia did very well, taking second place! ​ In the process, a couple of minor design flaws were exposed; first, 
-it needed stops on the wedge to prevent getting chocked up on it.  And second, I need to drill some access 
-holes so that motors can be swapped without removing the bottom plate. 
- 
- 
- 
- 
-Once back in Wilmington, I redesigned the wedge attachment to make it more sturdy, and to have an 
-integral stop (the big bolts) that prevents the chocking when right-side-up. ​ I need to test it some more 
-when inverted. 
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-Drilling the motor access holes was also quickly accomplished. ​ And as a side-effect of the new 
-wedge attachment mount, I added more mounting holes on the other 3 sides of the frame. 
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-In addition, I am adding cooling fans.  The obvious mounting place was on top of the Victor speed 
-controllers,​ but the standard fans are much too bulky. ​ However, I was fortunate enough to find 40x40x6mm 
-12V fans at [[http://​www.mouser.com/​index.cfm?​handler=productsearch._listproductsearch&​amp;​searchtype=starts+with&​amp;​criteria=664-D4006MX-12V&​amp;​searchby=PartNumber|Mouser 
-Electronics]] that were just the ticket. ​ When mounted on a standard Victor, the complete assembly is 
-exactly 1.5" high, but I milled 0.100" off the Victor support posts to allow for some wiggle room. 
-(Actually, I milled too much off, thus the washers in the final image). ​ I also milled off the PWM cable 
-housing so I could insert standard hooded PWM cables. 
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-[[madoverlord:​robots-RCG0403|Lots of pictures from the event here]]. 
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