[roystur44]

Take a look through the Bimba catalog. There are lots of different kinds of actuators. I rarely see FRC robots use the cool stuff Bimba has.

Rotary style actuators use pneumatics to give high torque applications in a simple to use small package. You can select the degree of travel and number of positions. Way simpler that a motor, transmission, speed controller, limit switches and a sensor and code to operate.

Rod less style cylinders give travel with half the length of a typical cylinder. There are also position feedback cylinders that use magnetics to sense position. If you had a design I'm sure one of the Bimba controls engineers would talk with you.