We will be using bumpers. I watched too many robots last year climb onto the wheels of robots that looked similar to what we are building this year and effectively disable them. I also don't like the idea of having our cantalevered wheels so exposed. We are adding bumpers to prevent that problem. It also adds 15 pounds, and who can say no to that!
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This seems like an important question because there will be a lot of variations of ramps and lifts, and since the bumpers increase the width of the robot and also reduces the ground clearance, the ability for the robots to get on these ramps and lift may be limited.
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To have our bumpers mounted legally, we need to have them 1/2 of an inch above the bottom of our frame. We are using 6 inch wheels with a 1x2 tube stock frame. They shouldn't limit what we can climb, unless the ramp is steep enough that we get our bumpers stuck on it before our wheels get on the ramp and start climbing.