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Re: 20 point hang.
Our most promising climbing concepts (including the one we are building) came from initial ideas with fewer restrictions on them.
Assume there is no shooter or floor pickup. Assume you can use the entire space of the robot. Assume there are plenty of motors and weight. Assume you can control the center of gravity of your robot with some precision. Assume you only want to do a 20 point hang.
Now take the concepts you generated and start poking at them. If you have a great 20 point hanger, what would it take in order to get to 30? How could you fit a shooter around this concept? What would need to change if the center of gravity of your robot is not where you planned? Some concepts require little or no adjustment; others do.
Almost any concept can be made into a legal 30 point hanger. It's just a matter of finding the one that is simple, robust, and fits within all of the constraints you have. There were many "a-ha!" moments leading to our climber design, and while our concept is not as simple as we would have liked (we traded simplicity for speed in one specific instance), I'm pretty happy with it. But it all starts by looking at a reduced dimensionality version of the problem before tackling all of the constraints - we tried considering everything at once and it just didn't work.
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