Quote:
Originally Posted by Smitty1707
What I'm having trouble wrapping my mind around with both of 233's and 254's telescoping arms is where the extra chain/timing belt, goes when these mechanisms are extended.
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In this year's arms, the other end of the belt comes off the bottom pulley and then goes back up inside the bottom of 1x1 tube (the last stage), where it is clamped.
This section of belt (from the pulley to the bottom of the last stage) is what takes all the tension when the arm is being retracted. This way, the force exerted by the weight of the robot while climbing is just transmitted through the (large) bearings and shaft supporting the bottom pulley, and not on any of the tiny ones where the belt doubles back on itself.
The beauty of using a telescoping arm for hanging, in my opinion, is that there are no moments exerted on any of the stages during retraction.