[NOV8R]

After thinking a lot about the drivetrain we've decided to keep it. An essential element of the design is CG manipulation. The majority of the mass is low in the robot base (4 CIMs, 4 Banebot p-80s etc). The arm is coupled to the base via a CIM/256:1 P=80 gearbox. Changing the relative orientation of the arm to the base while hanging is what controls the arms orientation to the tower. Said more simply kicking that heavy base back and forth controls where the arm goes.

This picture was meant to be a 'clue' not a 'how to'. That said, we'd be glad to answer any questions and share details with anybody trying to make a similar concept work. This has and continues to be an evolutionary process from the crazy idea we had right after kickoff. Our design criteria are something that's unique, simple and elegant. That has lead to a lot of sleepless nights but after all this is FIRST!

If you want to see all this in action we'll be at the Colorado scrimmage a week from Saturday.