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Re: Ground clearance
The frame should have at least 1" of clearance which allows fasteners to protrude below the frame 1/4", resulting in 3/4" minimum clearance to the floor. This allows the wheels to climb 3/4" plywood which a lot of field elements are mounted to. The plywood doesn't always show up in the field drawings, however, FIRST adds a design note tolerance to cover this. An example is the 2010 bumps. The inspection sheets also check for 1" clearance, but there isn't an explicit robot rule for minimum design clearance.
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