Hung Cage Climbing Mechanism
Hung Cage Climbing Mechanism
Embedded Files
A mechanism to climb the "deep cage" for team 190's entry in the FRC 2025 game
(Earlier version of climb is shown)
Constraints
Constraints
Lift 150 lbs robot off of floor and cannot fall after match ends
Be fully contained within robot frame to start the match
Cannot touch chain or outer flat surfaces of cage
Must be mechanically and electrically reliable
Actuate as quickly as possible (< 1 second actuations)
Work around existing robot features to support other forms of scoring
Follow game rules for the FRC 2025 game "Reefscape"
CAD Layout and Development
CAD Layout and Development
Ideation and geometry analysis:
Used master sketch to drive model and change through iterations
V1 design
Consisted of upper deploy assembly and tail/gearbox assembly
Integrated Upper Stage
Upper stage released by funnel position to reduce actuator count
Asymmetrical cam-follower system ensured both sides released simoutaneously, preventing a premature release of the grappling hook
Gearbox Assembly
Gearbox Assembly
Lower assembly includes ratcheting winch and deployable alignment arm
Featured 3 states activated by a single motor/roation direction
All features integrated in a standalone system allowing for easy drop-in replacement
Required a small 6" X 3" space claim for mounting in rear of robot
Small space impact meant system could be developed in parallel with other subsystems
Power Train
Power Train
23.8 : 1 ratio
0.9 second min actuation time
Gears later pocketed for weight savings
Featured quick release interface to reduce actuators
Drives spool to wind in spectra cable
Cable redirector to spool distance calculated for a 1.5 degree fleet angle preventing overlapping string
Ensures consistent and repeatable winding of cable
Quick Release
Quick Release
Ball Bearing located on gear train holds alignment arm and releases after spool begins to rotate
(gif 1/2 speed for clarity)
Machining
Machining
Main plates machined out of 3/16" 6061 Aluminum on a Shop Saber CNC
Box tubes machined on a HAAS VF4 SS
Shafts turned on manual lathe
V1 integrated Climb system
V1 integrated Climb system
Lower Hook Attachment
Lower Hook Attachment
With only two days before the week zero event (used as a test/robot-shakedown before the season) the lower subsystem was adapted to hold the grappling hook with minor modification
Simple "Pizza Table" mount:
Simple "Pizza Table" mount:
Mount added 4 standoffs, 1 plate, and 2 lock interface blocks to assy
Used existing holes
Did not hinder ability to pivot tail
Pivot of tail releases redundant limit switches, activating climb
Mechanical release:
Mechanical release:
Mounted to underside of hook
Sprung to the locked position
unlocked when pulled by cord releasing hook
Retrofitted on other teams
Retrofitted on other teams
Fully standalone version combined with a small space claim allowed the climber to be fitted to other robots
Allowed other teams to climb when they otherwise couldn't
Other teams used climb as inspiration for their own designs
FRC 148, climber inspired by 190
FRC 3310, climber inspired by 148
FRC 1735, climber built by 190
Version 2
Version 2
With more time, version 2 included a more purpose built tail intended to mount the grappling hook and capture the cage
Improved Catching geometry
Raised alignment wing to prevent jamming against balls
Improved grappling hook geometry to prevent twist-outs during climbs at extreme angles
Widened catching geometry preventing cage from being "pitch forked"
Results
Results
Cage can be caught with more swing
Enabled faster and more reliable catches
Design resulted in 7 tournament wins and semi-finalist at the world championship
full robot CAD Via onshape:
full robot CAD Via onshape:
Click Here for V1 Robot "StackUp" Featuring V1 Climber
Click Here for V2 Robot "Redundancy" Featuring V2 Climber
Page updated
Google Sites
Report abuse