[Paul Copioli]

O.K. here are some of the answers:

1. We are NOT going in the tunnel. 1/2" of clearance on either side is just not enough for us and making our robot skinnier is just not something we are willing to do.

2. We are using a single rotational joint to do our lift.

3. We are inverting ourselves

Calculations:
We make sure our design point is at Max Power. As the torque goes down the speed picks up and we have plenty of torque at start-up.

F-P speed at max power = 7800 RPM
F-P torque at max power = .1648 ft-lb
CG location from pivot = 18"
Robot Weight = 150 lbs
Required Torque = 225 ft-lbs (150 lbs * 1.5 ft)

F-P Torque at 1500:1 at max power = 223.45 ft-lbs
F-P Speed at 1500:1 at max power = 31 deg / sec

Rotation angle = 90 degrees so total time is ~3 seconds.

Now at various points along the rotation the speed will change based on the CG moving closer to the pivot. We can also always add Latex tubing if our CG is further out than we think.