About Bellerophon

Bellerophon features an articulating claw and linear shooter inspired by Team 1114, Simbotics’ 2008 robot and Team 233, The Pink Team’s 2008 robot. The claw lowers to floor height to collect balls from the field and lifts up to shoot into the goal or over the truss. A custom worm gearbox powered by a miniCIM controls the claw’s angle, counterbalanced with a gas shock. The adjustable angle gives Nemesis large strategic versatility and allows Bellerophon to fit on any alliance.

The mecanum wheels on the claw center the ball and allow Nemesis to grab game pieces while off-angle. The claw tightly grips the ball and opens up when shooting. The shooter is powered by four six-inch extension springs. A modified VEXPro ball shifter with a neutral gear winds the shooter back while a ratchet and pawl prevents backdrive.

The arm’s angle can be controlled by a camera recognizing the vision target and calculates the robot’s distance to the goal. This allows Bellerophon to automatically adjust its angle to consistently score.  Bellerophon also uses the camera and vision processing to find the hot goal in autonomous.

Autonomous scripting based off of Team 33, The Killer Bee’s code allows fast and easy autonomous changes. Bellerophon reads a text file on the robot’s computer and executes its commands. The robot’s two ball autonomous routine has been tuned to perfection thanks to this asset.

Bellerophon won the Hatboro-Horsham District and Nemesis looks forward to competing at the Lenape-Seneca District and the MAR Championship.