ersinaytac

I am still reading about robocup and checking what are the key points while creating a team. Thank God I'm only dealing with the mechanics part. The university is giving us a limited budget to create a team, thats why I gotta be very careful while choosing the parts and creating the design. I'm tryin to read pretty much all of the TDP's of every team.



Physical dimensions are limited by the F180 rules of RoboCup. Height is limited by 150mm and the max diameter is 180mm.

The shortest and smallest team is RoboFighties from Pakistan with 120 mm height and 160 mm diameter.

The weight info is not given by many of the teams but as far as I find out it varies in between 2200g to 3600g.

DC motor selection is very important. Maxon and Faulhaber. Most of the teams go with Maxon EC-45 Flat motors. They produce 30W of power and they physical shape is flat thats why the teams save a lot of space in the chassis. Reduction ratios are very different for each team. Since the targeted speed and the weight is different for every single team the ratio changes. 1:3 to 1:5 is used by the teams. The reductions is needed cause the teams somehow need to increase the torque. The speed of the robots are in between 2.5 m/s to 2.91 m/s. Although the last years winner robots were moving with 5.0 m/s. For better results of the speed estimation most of the teams are using gyroscopes, accelerometers, and encoders.


4 omniwheels are used by every team. Some of the teams make their own omniwheels some buy. 50 mm to 68 mm diameter of wheels are chosen by the teams. The wheel orientation directly affects the speed of the robot. Dıifferent wheel orientations that are used by the teams are given below.

BSmart 45° Front & 53° Rear
MRL 114° Front & 90° Rear
PLasma 33° Front & 45° Rear

Dribbler is the mechanism that dribbles the ball. Maxon motors are used used by almost every team. 15W to 25W motors chosen by teams with a gear ratio of 1:4 to 1:6. Two of the teams told in their TDP's that their dribbler is rotating with 13000 rpm. Installing a suspension and the material of the dribbler is a very important point. Too sticky or a too hard dribbler is a disadvantage while controlling the ball.
Also the height, shape and length of the dribbler are the key points while designing it. 70 mm to 100 mm long dribblers are used. Some of the teams created dribblers thicker on the outside and get thinner in the inside for better ball control.


Kicking device is just a solenoid attached a kicking plate on it. Most of the teams are creating their own solenoids. Depends on the how much electricity can the capacitor holds. 195V to 400V and 2200uF to 4700uF is stored in the capacitors. The ball speed is almost same for every team around 10m/s. Kicking is divided into two; chip-kick and horizontal kick. You gotta hit the golf ball under its center of gravity for the ball to rise in the air. For better results teams created that part with a leg-like design.

The chassis and cover are the other big parts of the robot. Since everything has to be precisely produced CNC machines are used. Aluminum alloys, titanium alloys are used in the chassis. Carbon-fiber are used in the cover, one of the teams used cardboard and glued 1.5 mm thick plastic inside that card board for stiffness. Wheel, motors, solenoids, and electronics part mount holes and mounting parts are other parts that will significantly affect the robot.

Download All Team Specs