FRC 2023 Telescoping Arm

micahhsu · Jul 3, 2024 · b4173c2 · b4173c2
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diff --git a/assets/media/arm3-on-robot.mp4 b/assets/media/arm3-on-robot.mp4
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@@ -9,18 +9,31 @@ tags:
 image:
   caption: 'FRC 2023 Telescoping Arm'
 ---
+In high school, I was part of an award winning [FIRST Robotics Competition](https://www.firstinspires.org/robotics/frc) team. [Team 3476: Code Orange](https://www.teamcodeorange.com/). In the 2023 season, I built a belt-driven telescoping "arm" that could extend up to 19 inches in 0.5 seconds.
+
+Here is our reveal video:
 
 {{< youtube CvMuQAEPYbs >}}
 
-## Design
-### Overall Design
+## Prototyping
+Each season starts with prototyping, and I experimented with lots of different mechanisms for this telescope. One of them used a constant force spring for extension:
+{{< video src="arm3-prototype.mp4" controls="yes" >}}
+We eventually decided against this design because although it is fast, it only allows the telescope to be fully extended or fully retracted, with no in-between positions.
 
-### Structure
+### Design
+After deciding on a belt-drive design from prototyping, I had to figure the very complex geometry for this robot. Let's just say, given the constraints of the robot size and the desired extension, I really learned how to make good sketches.
+![Arm Sketch](arm3-sketch.jpg)
 
-### End Effector and Wrist
+Some other highlights of this design include the see-through pocketing (which took me almost 5 straight hours one night!) and a fish, for fun!
+![Pocketing](arm3-pocketing.jpg)
+![Fish](arm3-fish.jpg)
 
 ## Manufacturing
+I directed the manufacturing of this arm, making all the drawings for parts, giving them to the manufacturing team, and keeping track of a manufacturing list. Here are some photos of the process:
+![3D Printed Parts](arm3-printed-parts.jpg)
+![Drawing](arm3-drawing.jpg)
+![Arm on Robot](arm3-on-robot.jpg)
+![Final Build](arm3-final-build.jpg)
+![Final Robot](arm3-final-on-robot.jpg)
 
-## Competition
-
-## Conclusion
+## Competition - Pit Crew!