Staying within volume with multiple extensions

[jvriezen]

Lets say I choose volume A, 36 x 40 x 24 for example.

My frame perimeter + bumpers is small, it fills a 26 x 40 footprint. Now I can have an appendage that extends 10" beyond the bumper on either of two sides after the match starts

Can I do this on either side of the robot as long as I retract on one side before extending on the other side? Does it make a difference if I have only one appendage that is capable of reaching out in either direction but not both, vs two appendages that I assure via software or a hardware linkage that only one will be deployed at a time?

It seems that the 'volume' of the robot for an undersized bot (at least in horizontal dimensions) is ambiguous, so how does it apply to rule G28 regarding affecting fuel outside the volume of the robot ?

I would assume the vertical volume of the bot extends above the bot, not below the wheels, but who is to say, especially while climbing?

[NShep98]

Originally Posted by jvriezen

Lets say I choose volume A, 36 x 40 x 24 for example.

My frame perimeter + bumpers is small, it fills a 26 x 40 footprint. Now I can have an appendage that extends 10" beyond the bumper on either of two sides after the match starts

Can I do this on either side of the robot as long as I retract on one side before extending on the other side? Does it make a difference if I have only one appendage that is capable of reaching out in either direction but not both, vs two appendages that I assure via software or a hardware linkage that only one will be deployed at a time?

It seems that the 'volume' of the robot for an undersized bot (at least in horizontal dimensions) is ambiguous, so how does it apply to rule G28 regarding affecting fuel outside the volume of the robot ?

I would assume the vertical volume of the bot extends above the bot, not below the wheels, but who is to say, especially while climbing?

Blue box for R03

Expect to have to demonstrate a ROBOT’S ability to constrain itself per
above during Inspection. Constraints may be implemented with either
hardware or software.

You would have to prove to inspectors that only one side can be deployed at a time.

As for the vertical volume, R03 does not specify being applicable in only one direction, so anything that extends below would be subject to it, and also

R23. BUMPERS must be located entirely within the BUMPER ZONE, which is the volume contained
between the floor and a virtual horizontal plane 7 in. (~17 cm) above the floor in reference to the
ROBOT standing normally on a flat floor. BUMPERS do not have to be parallel to the floor.

[mman1506]

Originally Posted by jvriezen

Lets say I choose volume A, 36 x 40 x 24 for example.

My frame perimeter + bumpers is small, it fills a 26 x 40 footprint. Now I can have an appendage that extends 10" beyond the bumper on either of two sides after the match starts

Can I do this on either side of the robot as long as I retract on one side before extending on the other side? Does it make a difference if I have only one appendage that is capable of reaching out in either direction but not both, vs two appendages that I assure via software or a hardware linkage that only one will be deployed at a time?

That's fine, it doesn't make a difference. When being inspected the inspector should ask for a team to do a dry run and check for intentional expansion outside the volume. Refs and inspectors should also watch the robot on field to make sure it does not violate the rules. This is how we (inspectors) treated a robot last year that had a motor driven multi joint arm that could easily extend outside legal limits.

Originally Posted by jvriezen

It seems that the 'volume' of the robot for an undersized bot (at least in horizontal dimensions) is ambiguous, so how does it apply to rule G28 regarding affecting fuel outside the volume of the robot ?

I would assume the vertical volume of the bot extends above the bot, not below the wheels, but who is to say, especially while climbing?

The volume should be considered dynamic (except that you cannot switch between the two volume options) it's up to the ref to judge your current volume. The volume is virtually transposed in reference to the robot sitting on a flat floor and should remain parallel to your frame perimeter. Extensions below the wheels should be fine.

[engunneer]

Originally Posted by mman1506

Extensions below the wheels should be fine.

As long as the bumpers are not articulated and the bumpers remain in the bumper zone.

[rich2202]

Originally Posted by jvriezen

I would assume the vertical volume of the bot extends above the bot, not below the wheels, but who is to say, especially while climbing?

The "height" includes extensions below the wheels (jacks).

R23: This measurement is intended to be made as if the ROBOT is resting on a flat floor

It does not say "resting on its wheels on a flat floor". If the extensions go below the wheels, then the robot will be resting on the extension on the floor. Note: The extensions would then change the Bumper Zone relative to the wheels.