Flipper/Lifter arm with autoflip (video)

The first weapon that we implemented in our system is what I consider the standard weapon, a flipper arm. This 1/2" aluminum arm has edges beveled at 45 degrees for sliding under opponents. The original design had a physical fiberglass rod with a contact at the base that would trigger the pneumatics to automatically flip (when in autoflip mode) when the rod is tilted past 10 degrees. I have since upgraded this sensor to a reflective IR emitter/detector in order to avoid physical contact and reduce damage to the sensor. (See IR sensor in action)This weapon, combined with the valve system and electronics of the robot can be toggled in and out of "autoflip mode" as well as toggling between flip and lift mode. In lift mode, C02 gas is diverted through a different valve that allows slow and controlled motion of the arm rather than a full force instantaneous flip. This strategy was forumlated because many robot are invertible and since modes can be toggled easily, a new strategy can be adapted during combat if necessary.

Flipper w/manual autoflip sensor

Crabclaw/Clamp (video)

The "crabclaw" attachment can be used by itself or with an attachable "finger" element. The finger is connected to the frame of the robot through a heavy spring attached to a steel gear. The arm has a similar gear of larger size permanently attached. When the gears mesh, raising of the claw causes a rapid decent of the finger (because of the smaller ratio on the finger). Upon encountering an object (opponent), the claw continues to rise while the finger presses down from above with increasing force as the spring is wound back. The whole process creates an effective clamp and hold action, and the wide profile of the claw forms a stable base to hold the opponent. Twin "wheelie bars" extend backward to shift the pivot point of the robot as far as possible to maintain balance.

Crabclaw

Lateral spear weapon

The spear weapon is the most simplistic weapon attachment. Simply screwing the spear onto the pneumatic piston rod mounts the weapon. An aluminum guide is mounted to the frame members to secure the spear and guide it directly rearward. This weapon would be used for opponents who have sides perpendicular to the ground and where a lateral puncture or shove would be particularly effective. This is also the weapon with the lowest weight. Therefore, if weight consideration is necessary elsewhere on the robot, the spear weapon can be equipped to accomodate the change.

Horizontal Spear

Overhead spike/hammer (video)

The spike weapon is used by switching the high-flow valve port to the retract end of the cylinder and running the valves independantly of each other. Thus, the fast action is used to fire the spike downward and the slower valve is used to retract the spike to the armed position. Additionally, an alternate program is sent to the PIC controller to run the valves in a suitable sequence. This weapon would be selected when an opponent would appear to be most vulnerable in an attack from above.

Hammer/Spike weapon

Pneumatic trailer

The pneumatic trailer concept was partially built, but never completed. It was designed primarily as a defense against spinners and other flywheel bots. A very low profile platform (>1/2") would be trailered from the robot, and 3 pneumatic bladders would be filled to lift an opponent from the ground from a safe distance. Once the opponent was disabled, he could be transported to an appropriate hazard. In considering full-cage spinners, it seemed to me that the only way to make a successful attack without impact would be by using a weapon with a minimal profile to slide underneath the opponent. I have most of this concept created, but it has not yet been tested.

Pneumatic trailer

Spinner (video)

.The robot's spinner is a modified trolling motor combined with a heavy steel ball bearing and aluminum enclosure. It uses heavy steel flails spinning at high velocity to damage opponents. More information can be found here.