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Re: Caster Mechanism
In 2002, Team 340 did something similar. They used two wheel drive, with two ball casters on the far edge of the robot. When they grabbed a goal on the side with the wheels, they then actuated two pneumatic cylinders that lifted the casters off the ground and also lifted the opposite end of the goal. Thus, they had half off the goal transfering weight to the drive wheels with nothing dragging. It gave them a great turning radius.
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