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Re: Pneumatics Math
The two inch pistons really suck a LOT of air. Have you considered using a spring (or surgical tubing) to help with the retraction? That way when you extend the cylinder (which will require at least 25-30 psi to actuate a valve) you will actually get to use some of the energy in that air (to stretch the spring), and might be able to get the same amount of retraction force, but at a lower pressure.
And if you have enough air to pull it off, and are using a double acting valve (or a single acting one that defaults to "retract" when the power is off) you could put a flow restriction connector on the piston, so it would slowly... retract, but continue to retract even after the power is off to your robot.
You hit retract just before the match ends, and people think "oh no... they just needed one more point to win", and then the robot begins to creep upward.... and upward.... and you come to rest above the platform and get the point!
Jason
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