• Spline profile can transfer more torque than standard hex shaft. Saves on weight and reduces backlash by not needing hex hubs and instead milling the profile into the 2x1s and using splinexl sprockets.
• Experienced no wear or damage over 3 events.

• easier to use, stronger, and less backlash compared to vexpro planetaries.
• uses preassembled and prelubricated stages and can just use a keyed 8mm shaft, eliminating the need to shave down Neo shafts.
• Hex output made integration easy. Mounting options were also better.
• However, increased size, weight, and cost.

• has more slots compared to PDP. Also uses wago style connectors instead of levers that you have to push open with a flat head. Battery connection is also through Wago style connectors where you just strip the cable to the right length and insert it. Also has 4 smaller fused channels and a switchable one.
• The increased port capacity was useful due to the increased number of motors and addtion of a limelight this year (8 swerve, 2 arm, 2 shooter, 1 intake, 2 climb, 1 limelight equals 16 total). Though a PDP would have worked as well, due to the layout being biased towards the back, the PDH ended up allowing for better wiring and packaging.

• people from Halsey MFG and Wildside Robotics helped us out by machining the tubing used in most of the 2024 robot. This included the punched holes in the driverails, mounting holes for the climber and arm gearboxes, A frame, and arms.
• 2023's robot was entirely manually made. As a result, there were lots of hole misalignments and headaches due to ill fitting features. 2024's robot had far fewer isssues. This led to it being faster to assemble, easier to maintain, and more durable overall.
• CAM was done by Halsey, and everything was machined in an afternoon.

• Using the Dpark waterjet, we cut the polycarbonate plates and steel bellypan. Similarly to using the CNC, it made the results far quicker and accurate. Cutting steel also would have likley been impossible to that degree without the waterjet.

• Since there weren't any bumps on the field like the charge station or cable protector, a heavy bellypan could be added.
• We bought a 1/8th in. steel plate on ebay for ~70$. It was cut by Dpark waterjet. Parts of the bellypan plate were turned into the climber hooks.
• The bellypan did three things. Serve as a mount for electronics, lower the CoG, and strengthen the frame/hold it together. One issue was that it was really hard to drill into, but this was a minor issue compared to the beneifts. One mistake was likely not moving up in drill sizes incrementally and instead just drilling with a large drill bit.

• Historically, when we used hex shafts, we held everything in place with shaft collars. However, this has issues like needing to tighten/check the shaft collars before every match, and they still might come loose. The Vex shaft collars we normally use also have really small screws that can strip or strip the hex key.
• Inspired by our design with tapping the ends of hex shaft instead of using shaft collars, we decided to try out using shaft spacers that would space everything correctly instead of shaft collars. These worked well and required no maintenance other than checking the ends of the shaft collars.

• Instead of shaft collars, we would just tap the ends of the hex shaft and use a washer and bolt to hold the hex shaft into the frame. This design reduced weight and length though it took a bit to set up. Though the shaft would have to be more accurate lengthwise, that could be sovled with spacers or leaving it shorter.
• It also made it easier to replace the shaft as you only need to unscrew the two ends instead of undoing several shaft collars.

• Not really a technique that can be used everywehre, but Luis designed the intake plates so they would fit together with little tabs. These reduced weight and made assembly easier by eliminating the need for fasteners or glue. However, they resulted in increased stress on the corners of the slots which led to the intake plates cracking at DCMP. (maybe add filets or something idk im not a mechanical guy - Tony)

• First tried kevlar rope meant for kites. Though it was rated for up to 550 lbs, it would fray after rubbing against sharp edges and tangled easily due to it's thin diameter.
• PolyCord worked much better as it lasted longer and did not tangle as easily although it weighed more and was larger. ty 4639 and nepo

• The idea for the magnets was for a one time use climb. The magnets would hold the steel hooks for the entire match, and then during climbing, the hooks would get pulled off by the winches. However, This ended up not really working as the magnets are brittle, and G-forces during the match mean that even if the magnets can hold the hooks for most of the match, one good hit and they're off.
• The magnets were eventually replaced first by velcro, which worked well for an event, but they eventually got worn out. The next revision just used zip ties that would get snapped when climbing and replaced after every match.
• The magnets ended up on the shelf as the magnetic holder bar.

Every year, the competition season leaves Makerspace in a mess, and the poor souls who end up in summer research will have to deal with that.

• Built a new shelf out of wood and plywood used to built the 2024 stage. Featured two levels and sits betwen the metal cabinet and the machine table.

• magnet holder - bar magnets from 2024 climbing hook stuck to a steel bar. Holds small tools like screwdrivers and hex keys that are used on a regular basis

• not really an experiment, largely the same design as the other two tables.