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Re: Climb Stopping Mechanism
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Now imagine everything in the system is a spring, you're going to compress/stretch parts of the robot/field and load everything up. Now there is a ratchet on there preventing you from backdriving (and you can't go forward any more as you're already loaded pretty firm into the field). Now that's how you lock yourself onto the field. |
Re: Climb Stopping Mechanism
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Re: Climb Stopping Mechanism
The current measuring method works very well. We've used it in other instances in the past and plan on using it this year for the climber mechanism.
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Imagine trying to release a ratchet strap that has been ratcheted to significant tension. If you try to pull the release with your fingers without taking up some of the load with the handle, you will never get it undone. You have to release tension off the release bar in order to move it. This is exactly what will happen in the scenario outlined above. |
Re: Climb Stopping Mechanism
It is legal to remove the rope from the field without removing the robot from the rope. So couldn't you have two team members support the robot, while another team member releases the rope from the davit?
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I do recall your 2010 robot and didnt realize you had those issues also. |
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Or we can also do the other suggestion earlier with the current draw. Lots of time left to figure this out since our climber already made and it works. |
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Re: Climb Stopping Mechanism
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However, in this circumstance, the force applied on the rope after hitting the stop at the top isn't "the full power of the winch + the weight of the robot pulling on the rope..." Rather, it's the maximum of the two. (Which is likely to be the "at stall" torque from the winch.) |
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