[jee7s]

The energy storage has to be in compliance with the rules. Since the situation you describe deals with air and deformation of robot parts, you're in compliance with the rules.

The rate that the cylinder can move is dependent on the resistance to flow into the cylinder. The biggest resistance to the flow is the solenoid valve. The rating for the solenoid valve's resistance to flow is the flow coefficient (Cv). Cv is generally defined as the flow rate of water through the valve in gallons per minute when the pressure across the valve is 1 PSI. Yes, it's defined with water, but the principle applies to air as well. If you use a solenoid valve with a Cv that is large, the air flows faster and the cylinder hence moves faster.

In past years there has been a limitation on Cv. This year's rules do not have a Cv limit. See R77 for the rules regarding solenoid valves. Then, pick a valve that is within the rules and allows your cylinder to move fast enough for your application.

Keep in mind that inspectors will look closely at robot safety. If they feel your mechanism is not sufficiently safe, they won't let you compete with it.