Robot Quick Facts
  • Name: Uther Pendragon

  • Year: 2016

  • Weight: 120 lbs

  • Programming Language: Java

  • Status: Disassembled

  • Game: Stronghold

  • Initial Size: 36.5″ x 36.75″ x 60″

  • Extended Size: 37″ x 26″ x 12′

Competition History

  • North Star Entrepreneurship Winner, Dean’s List Finalist (Katie Rapley)
  • Central Illinois Entrepreneurship Winner

Robot Features

  • Drive Train
    • Drop Center West Coast Drive
    • 6 10″ Pneumatic
    • High Gear: 19ft/s (Not Used)
    • Low Gear: 9ft/s
  • Defense Class A Manipulators
    • Two Class 1 Levers
    • Actuated by pneumatic cylinders
    • Polycarb triangles lifted Portcullius and pushed down ramps on the Cheval De Frise
    • Carriage has 2 pistons for releasing totes
  • Intake
    • PVC Rollers with Surgical Tubing belts powered by 1 775-Pro
    • PVC lined with Wedgetop tread
  • Flywheel Shooter
    • Flywheel shooter powered by 2 775-Pros
    • 2 8″ AndyMark rubber wheels as flywheels (2008 KOP wheels)
    • PID Controller to verify speed sustainability.
    • Changing flywheel speed to shoot from anywhere on the courtyard
    • Hanger
    • Elevator lift deployed steel hook to be winched
    • Lift powered by AndyMark 9015 geared at 4:1
    • Winch drum powered by MiniCIM geared at 64:1
    • Custom ratchet made using a brass spring door hinge and VexPRO gear
Competition Rankings
of 60
North Star Regional
Season Challenges
  • When you have a gigantic arm it’s hard to figure out what motors to use. Understanding what motors to use for the “elbow” and “wrist” took a lot of trial and error. Additionally since it was such a tippy robot, we had to put the battery up front and controlling the claw was a bit of a struggle at competition since we only had two joysticks that were directly controlling the elbow and wrist. Making it smooth and communicating with the driver was difficult. The programming department also had some struggle working with the drive team to get the robot performing correctly in a way that was easy to control. First year of us doing any sort of articulation.
  • Since the claw was so large, it got in the way easily and spinning around often hit the side-wall of the field which would bend the claw and make it useless. Controlling the arm to put the trackball over the overpass was an exercise in focus and communication with the drive team and was never as confident as we hoped. During the championship match, the robot hit a sidewall during autonomous and the power cable came out, instantly killing the robot. We were the highest scoring robot on the field and we were literally powerless.