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Re: pic: arm design
One thing I might give some thought to is what the necessary "standoff" distance is for picking up a tetra (this goes for any design). I foresee a lot of robots that, for instance, won't be able to pick up a tetra less than 4 or 5 feet a way. Thats a very structurally vulnerable position you want to avoid. The same sort of thinking goes for what position you'll be able to hold the tetra at while you're wondering around the field with it.
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