Can you help us get our robot unstuck?

[Kevin Sevcik]

Originally Posted by Garten Haeska

Not sure but it looks like you would be exceeding the 54in rule.

Once you're touching the pyramid, you're legal if you can fit in a 54" cylinder that's 84" tall, in any orientation. And you stay within 54" of the base of the pyramid. The latter is the the only thing they're in danger of. I think they can solve that by tilting the base vertical sooner, before that claw is fully engaged with the tower. It might require some frame adjustments so the wheels are still on the ground and they can still back away in a controlled fashion, though.

[engunneer]

There may just be a sweet spot where the tension on the lower grab comes off. Are you planning any position sensors on the arms so the program can move to preset positions?

Very impressive looking climber. I hope you work out the remaining issues.

[tsaksa]

From the video it looks like when you engage the second level the weight stays on the first level. This will probably always be true unless the distance between the two grippers is slightly less than the distance between the two bars. The grippers would then need slight tappers (or a lead in surface) to help transfer the weight to the upper gripper as it slid into position. I hope that makes sense. Basically a ramp to insure the weight ended up on the new grip point.

However any method of automatically transferring the load between grip points will be very tricky. Since the only holding force seems to be gravity and you are in the process of switching between hold points while your weight is cantilevered you have a significant risk of falling. I think you may need a solenoid driven locking pin on the grippers to prevent letting go two early. That coupled with a lead in and closer spaced grippers might do it. Or having another way to transfer the weight might work, such as some way to expand and contract the distance between the pivot points.

Whatever you do this is already a very unique way to climb. It will be great to see it in competition if you work the bugs out.