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Originally Posted by GaryVoshol
If the wheels are the farthest point outwards on your ROBOT, they define the FRAME PERIMETER (FP). Would a string stretched around your ROBOT hit the wheels? Then they're part of the FP. And the BUMPERS have to be mounted on the FP.
You may be able to use some standoff pieces between the wheels as places to mount the BUMPERS. But remember the BUMPERS must have backing at least every 8 inches. If you are using 8 inch wheels, you might have problems, because the 8 inch wheel would rub on mounts that are 8 inches apart. You might be able to put your mounts a bit above or below the midpoint of the wheels to make it work; you'd be spanning a shorter chord of the wheel rather than the full diameter.
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Remember that according to R22:
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BUMPERS must be located entirely within the BUMPER ZONE, which is the volume contained between two virtual horizontal planes, 4 in. above the floor and 12 in. above the floor, in reference to the ROBOT standing normally on a flat floor. BUMPERS do not have to be parallel to the floor.
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Therefore, it isn't even legal to mount the bumpers at the midpoint of the 8" wheels (as the radius of the 8" pneumatic wheels are, in reality quite a bit less than 4"). Mounting the bumpers above but, within the wheel region would work, however. The rules allow you to mount bumpers up to 10.5 in high (if you mount from the center of the bumpers), which gives you quite a bit of room to mount above the wheels as well.