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Unread 04-02-2017, 08:48
James3245 James3245 is offline
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Re: Climb Stopping Mechanism

a prudent approach:

Decouple the winch and the sensor trigger system. Winch system needs to be powerful, sensor trigger system does not.

1. Stop the climb well short of the sensor disk. Do this via encoder or careful operator control.
a ratcheting device, such as a wrench, ensures that when power is killed the climber drum doesn't unwind. Robot is now hanging a few inches below sensor.

2. Activate a low power device (pneumatic piston or a cam on a small motor with its own ratchet) that extends up and holds pressure on the sensor disk through the end of match. Or do it passively with a compression spring.

3. After match lift robot up. As long as the trigger device on robot is low power two people should be able to overcome it easily and thus easily take tension off the winch ratchet system.

This type of solution has likely been covered in another thread but it seems worthwhile to emphasize in this thread that triggering the sensor with your winch system, and the trouble that can ensue, is unnecessary.

The forces involved that can damage the field, your robot, and possibly you, are of such magnitude that added complexity in the form of the additional trigger subsystem would likely pass the cost/benefit test.
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