Introducing EPHYRA
Introducing EPHYRA! Spartronics 4915 designed EPHYRA based on the unique challenges of REEFSCAPE, focusing on coral acquisition and scoring. Our robot features a custom 3-stage elevator system reaching L4, a versatile arm, and sophisticated auto-alignment capabilities for precise positioning at reef branches. Custom bumpers, innovative electronics, driver communication via bling and rumble, vision, and more: that’s EPHYRA.
EPHYRA was a water nymph or Oceanid and daughter of Titans Oceanus and Tethys. Titans were the children of Uranus (Sky) and Gaia (Earth). Titans Oceanus was the primordial God of the vast river encircling the world and Tethys was a sea goddess. Oceanids in Greek mythology were the divine nymphs of water.
EPHYRA sets a standard for technical innovation. We’ve shared the details of our auto-align system, and other teams are adopting and benefitting! Read more about it here in our technical whitepaper!
Strategic Focus
EPHYRA is optimized for CORAL collection and scoring while maintaining ALGAE displacement capabilities. Our autonomous routines enable fast, consistent scoring cycles with minimal human intervention, allowing our drive team to focus on in-game strategy rather than basic maneuvering.
Key Considerations
Design
EPHYRA’s design consists of three separate, largely independent systems. This allows us to iterate on each system independently, and changes in one system can be made with less cost and less risk.
For Spartronics, game strategy dictates design. Starting with a list of needs, wants, and nice-to-haves, our Design subteam decides which components and subsystems to prioritize.
We rapidly prototype using a block CAD approach to rough out ideas.
After rapid iteration, we move to detailed CAD, and build begins.
Elevation & Manipulation
3-stage elevator provides extended vertical reach to access L4
2DOF arm with elbow and wrist joints mounted on the first stage
Top-down roller intake system pulls coral in lengthwise
Benefits: Fast collection with minimal alignment requirements
Design accommodates coral’s specific geometry
Autonomous
We’ve designed EPHYRA’s Auto system around a simple principle:
Any branch, Any station, Any orderPathPlanner’s on-the-fly pathing is at the heart of auto align, allowing us to make dynamic paths mid-game.
We combine on-the-fly pathing and tuned paths to approach any branch, align, score, store, and repeat.
We have an easy-to use dashboard that allows the drive team to create an auto that scores on any branch. We can even use this system in teleop!
We have a modular design, making it easy to debug, read, and explore the sea of possibilities.
Bling
We have a sophisticated Driver Communication system using LED strips and controller rumble.
It’s able to display practically anything, from solid colors to rainbows to complicated light shows.
Our drivers are informed of various events by the colors shown on the strips and subtle controller vibrations.
Electronics
EPHYRA’s design presents interesting electronics challenges: more moving wires, linear movement, rotations, and more.
The 3-stage elevator, a first for the team, necessitated a well designed energy chain.
Our last two robots had bottom facing electrical placement, but we needed to adapt this year.
Larger components are placed underneath the funnel; optimizing for easy access for repairs and in-competition maintenance.
Unique Design Elements
Custom bumpers crafted from repurposed exercise mats
Processor mechanism for algae displacement
Coral station ramp for efficient game piece collection
Swerve Drive Specialties MK4c swerve modules in 28″ x 32″ chassis