We built a pretty darn fast pickup. It is capable of a 5-shot auton. Picking up the two frisbees side-by-side was probably our biggest challenge. We fixed this by racking the outside roller at an angle- the left side is .25" lower than the right side.
As you can see from the picture, we have two pivoting arms with rollers on them that run off one RS-775 motor. I'm not sure of our gearing (I can check it tonight if you want) but it is plenty to pick up frisbees no matter how fast the robot is moving. The first, outside roller hits the frisbee up onto the ramp. The inside roller (it's hidden by the frame in the picture, but it's there) pushes it into our hopper.
In the picture, the shooter is up. In order to pick up frisbees, it has to be down. The edge of the cylindrical canister lines up with the ramp under the rollers.
http://www.chiefdelphi.com/media/img...9236795e_l.jpg
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This is our Robot. There are many like it, but this one is ours.
Measure twice, cut once, curse, buy more, and cut again.
2014- Excellence in Engineering (UNH), District Chairman's Award (NU), #8 Quarterfinalist (NECMP), Winner (Mainely Spirit)
2013- Semifinalists (Battlecry@WPI) Winner (Mainely Spirit)
2012- Regional Chairman's (GSR), Finalists as the #11 Alliance Captain (Battlecry@WPI)
2011-Xerox Creativity Award (GSR), Semifinalists (GSR) Innovation in Control (Virginia)
2010-Champion (GSR), Undefeated (Chesapeake), Coopertition Award (Chesapeake), Quarterfinalists (Galileo) 8th AC (IRI)
2008-Undefeated (GSR), Xerox Creativity Award (GSR)