[Hawiian Cadder]

When I look at a robot, I divide the mechanisms into 3 categories. Drive-train/Grapples/Hangers/Ramp-wedges, devices which manipulate the entire robot. Conveyors/Lifts/Arms/Indexers, devices which manipulate the game piece indirectly, or when it is isolated from the field. Grippers/Intakes/Shooters/Ramp-arms, Devices which actively control the game pieces while in contact with the field, as well as portions of the field.

High quality robots always have an excellent drive-train, usually a high traction skid steer drive. I don't think many high rate teams work too much on a drive-train during the season, they build something similar to what they have done in the past, and make it as light as possible. The drive-train is something that shouldn't take much time to do because it should always be an iteration of a previous robot. Devices which manipulate the entire robot are typically focused on delivering as much power as possible, and being as sturdy as possible.

Middle manipulators on high rate robots are usually simple and fast. The primary design goal of the middle manipulator is to avoid hampering the ability of the end manipulator in any way. The middle manipulator on most high rate robots avoids using available motors, power, weight, and time needed for the end manipulator without being sub par.

The end manipulator/manipulators is what really sets the high performance robots apart from the average robots. The end manipulators for both acquiring and releasing the game piece have few design constraints with regards to weight, space, work-time, complexity, and motors due to the minimalistic nature of both the drive-train and middle manipulators.

Many robots also have a special feature which adds design constraints not stated by rules. These design constraints are usually delt with using clever manipulation of the drive base and Middle manipulator, so that the end manipulator has as few constraints as possible.