From the Rule book:
Quote:
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Although rare, the impact forces that robots sometimes experience during matches have been known to cause the Anderson Power Products connectors to disconnect. FIRST recommends utilizing a quick-release fastener, such as a Velcro strip, to hold the power connectors together during a match.
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so, yes it is good to hold them together, but they specifically mention a quick release fastner, which a ziptie isn't.