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Re: If you would "pull-up"...
I don't want to reiterate the idea of pneumatics too much, but it seems like some are talking just about the new motor we have available this year and the rest aren't clear.
My thought with pneumatics is that you can easily put up a stiff arm 9' tall (10 from the floor, 9 from the platform) and then on the end of it have a nice wide pneumatic piston with a clasp/hook/whatever on it. You can activate the raising with a telescope or some simple lighter pneumatics - then you can lift up in an instant with the other one on the end. I think this might be a good approach for rookies since my experince is that pneumatics tend not to go wrong as often as the rest of the stuff.
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Lead Mentor of Team #246, Boston University Academy and Boston University, Overclocked
www.burobotics.org
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