[Josh Fox]

Our kicking mechanism is powered by surgical tubing similar to our '08 catapult. In fact, the idea for this kicker is nearly identical to that catapult.

We have spectra cable attached to our kicking arm which is then winched back to one of several positions determined by driver input and pot position by a fisher price (I believe it's the FP, not 100% sure).

Inside the gear box is a dog gear, which is actuated to allow the winch to free-spin, releasing the force from the stretched surgical tubing cartridges made using pneumatic hose clamps and connectors that are then attached by carabiners to the kicker and a stationary point on the back of the robot. We have four of these "cartridges," made up of one surgical tubing loop and a carabiner at each end. Each cartridge is rated to 50 lbs of force I believe.

The dog gear is actuated by a cam that's spun by a window motor.


We also power our lift with a CIM, and I'm not sure on the ratio. I'll try and find out to get back to you.

It will do the lift without surgical tubing, the tubing is just in place to give it a little extra help.