Dive into the depths of innovation with our latest robot design. This season challenges teams to navigate underwater-themed obstacles and score specimens in various zones.
Overview
FrankenCroc was a ground-up rebuild of the team’s earlier robot, Fireman S.A.M., completed in a single weekend just ten days before the FTC World Championship. It pairs a dual four-bar linkage with vertical and horizontal linear slides and a 3-axis articulating claw, giving it the reach needed to collect Samples and Specimens and ascend the Submersible.
Strengths
- +Full 3-axis claw articulation (pitch, roll, yaw) allows consistent pickup of samples in almost any orientation
- +Cascading 3-stage lift reaches its full 50" extension quickly with stable, linear vertical movement
- +Rebuilt and revalidated an entirely new subsystem architecture in about a weekend, thanks to a disciplined SWOT-driven engineering process
Tradeoffs
- –4-servo claw coordination put real strain on wiring and software
- –Rack-and-pinion horizontal extension droops slightly at full reach and wears down over a season, adding friction
- –Linear slide inserts are prone to dust and grime buildup, gradually increasing friction
Subsystem Breakdown
Drivetrain
A mecanum wheelbase gives the robot quick strafing and diagonal movement for navigating around the Submersible and field obstacles.
Intake / Claw — "Tri-Klaw Ultra"
A custom 3D-printed, 3-axis claw modeled around sample geometry for a tight grip. It evolved from a simpler 2-axis design through iterations that reinforced cracking brackets, added rubber grip tips, and boosted wrist torque with a 90-degree gearbox.
Lift — "Vertilift"
A chain-driven, 3-stage cascading linear slide reaching 50 inches, powered by dual 60:1 REV UltraPlanetary motors. It replaced an earlier four-bar-linkage lift for a more stable, precise vertical reach.
Horizontal Extension — "Gearstrike Rack"
A single-stage, rack-and-pinion extension reaching 24 inches, driven by a 20:1 UltraPlanetary motor through a custom 3D-printed rack. It replaced an earlier two-bar-linkage drawer-slide design for a lighter, faster, less wobbly reach.