[dtengineering]

Some relevant rules:

R02: The ROBOT must have a FRAME PERIMETER, contained within the BUMPER ZONE, that is comprised of fixed, non-articulated structural elements of the ROBOT. Minor protrusions no greater than ¼ in. such as bolt heads, fastener ends, and rivets are not considered part of the FRAME PERIMETER.


R04: In the STARTING CONFIGURATION, no part of the ROBOT may extend outside the vertical projection of the FRAME PERIMETER, with the exception of minor protrusions such as bolt heads, fastener ends, rivets, etc.

R29 A: a minimum of 1 in. at each end of the BUMPER must be backed by the FRAME PERIMETER

So regardless of your bumper rules, the configuration shown in your photo is illegal based upon R02 and R04.

You must enclose the wheels within a frame perimeter. Once you have done that, hooking up the bumpers should become trivial.

Sorry... you'd probably figured all that out already and were hoping for a different alternative, but this isn't a bumper issue, it is a frame perimeter issue. Once you meet R02 and R04, the bumper rules will no longer present a problem, I think.

And yeah, I get it... you're probably already at the existing size limits for frame perimeter. If so, you'll have to make some changes to shrink your existing chassis.

Jason

Edit: If you've got the space, however, Tristan has presented a way to meet R02 and R04