Invertabot 2004 Photos

by Dale Heatherington

New this year are a pair of wedges on either side of the flipper. To stay under the 12# weight limit I had to remove the IR opponent detectors and servo wedge lifter. Sometimes low tech is the best solution. However, I kept the 800 psi CO2 powered flipper :)

Closeup of the left wedge. The U cutout and engraving were done with my new CNC mill.

Here's the custom designed motor controller PC board. I used 50 amp MOSFETS in the H-Bridge circuit. A current feedback circuit maintains constant speed with varying torque loads. A battery voltage monitor maintains constant speed with varying battery voltage. Control is very tight and precise.

This the bottom where the two 7.2 volt 3300 mah NiMH battery packs live.

Rear view.

Here's the 30,000 rpm size 550 RC monster truck motor. It drives 4 inch tires through 53:1 gearing.