Frame Perimeter when climbing tower?

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I have been modeling this as well. Seems to me that if the front of your frame projected to the ramp is < 6.3" from the wall face any reach for the bar should adhere to all the rules of 15" beyond the perimeter during the reach. How your robot folds up during the lift is up to you. If only reaching for the bar you can be < 10.5" Your reach should be ok.

I modeled with the Team Prints for the Chin up bar.