I'm
really far behind on this competition, so I don't know if I'll get things done with how slow I am at Inventor, but I thought I'd post a picture from a few days ago and explain some of my thoughts on design for this game.
Essentially there's the important parts of the drivetrain and intake. The drivetrain uses a 3 CIM single speed through 5 inch wheels. Geared for about 9 FPS - the robot is rarely traveling more than half the length of the field. Internal belts handle power transmission. 1/16th drop - the math says a no-drop drive would have worked, but I wanted a little just to be safe.
The intake is affixed to the drivetrain and not any kind of elevation mechanism. (Why do you think this is? Will explain more at end of challenge). Two "flippers" feature 1" "marshmallow wheels" driven by BAG motors running through VersaPlanetary transmissions. These are pneumatically actuated to allow for pressure on the crates and the ability to release crates from its grip. I still need to figure out exactly how I'm mounting the pistons - right now they are concentric with holes on the chassis and flippers in order to get the motion figured out.
Ultimately I think one of the biggest challenges of the game is securely gripping the game piece. Dropping a 9 pound crate has serious consequences for any robot underneath it, and I don't think just any roller claw is able to lift a crate off the ground. I can't wait to see what others come up with.