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#1
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Legality of Linear Actuators
Our team is planning to use a Actuonix L16 Micro Linear Actuator for the competition, and we were wondering under what conditions is this legal? Or is it legal at all to use it?
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#2
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Re: Legality of Linear Actuators
It is legal, provided that its motor is legal. Take a look at R32 for the allowed motor list.
Chances are that the stock motor isn't legal and will need to be replaced with a legal one. Unless you can count it as a servo, but it's really close to the cost limit and isn't sold as one by default. Your best bet is to use the actuator, but remove the motor for one listed in R32. |
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#3
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Re: Legality of Linear Actuators
You have to use one of the legal motors to operate the actuator. Please see Sections 8.6 Motors and Actuators in the Game Manual for legal motors. This also includes the AndyMark NeverRest Motors.
See below: http://www.firstinspires.org/resourc...nual-qa-system AndyMark Motor: http://www.andymark.com/Search-s/545...errest&Submit= |
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#4
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Re: Legality of Linear Actuators
it looks like it is designed to work as a servo. I haven't read the rules about servos....are they required to be rotational, or can you use linear servos?
(if you replied without googling the part, maybe you ought to rethink your answer?) (and to the original poster, maybe you ought to include a photo of the item in question, when it's something really weird like this?) ![]() |
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#5
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Re: Legality of Linear Actuators
From what I read in R32, the PWM COTS servo would apply here, so you would have to be able to purchase the motor for <$75. The R32 blue box may provide some insight. The RoboRIO is limited to 2.2A on the 6V rail. It may be beneficial to investigate using one of these
Q&A may have some answers as well. All I could find for "servo" was this. I also assume you are interested in the 6V RC Control version such as this. You may want to consider this (also available here) if you are not already. |
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#6
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Re: Legality of Linear Actuators
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But if you swap out the motor for a legal one, it's a linear actuator that has a legal motor in it. http://www.actuonix.com/L16-Linear-A...rs-p/l16-p.htm |
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#7
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Re: Legality of Linear Actuators
From the actuonix website: L16-R Minature Linear Servo
There, it's marketed as a linear servo, it's PWM controlled, it's powered by 6V, it's under $75. It's a legal COTS servo if you use this version. You're welcome. NB: We used one of these last year under last year's servo rules and had no problems. Last edited by Kevin Sevcik : 28-01-2017 at 11:07. |
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#8
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Re: Legality of Linear Actuators
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OP, you will need to make sure you get the right version of the L16. L16-R = servo, legal. L16-P = linear actuator, needs legal motor to be legal. Just as a thought, you may want to make sure that the label with the type is visible for inspection in case an inspector asks questions. |
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#9
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Re: Legality of Linear Actuators
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#10
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Re: Legality of Linear Actuators
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#11
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Re: Legality of Linear Actuators
To cover yourselves, bring along the manufacturer's data sheet where it is called a SERVO and not a linear actuator. Get the version that has the same part number as the data sheet you have and be prepared to show an invoice with the price less than the limit given in this year's rules for a legal servo.
Do all this, and you should be good to go. I haven't used one of these yet, but I really like the concept. |
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#12
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Re: Legality of Linear Actuators
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We actually used the L12-R, not the L16-R. It was to shove a piece of surgical tubing into a gear mesh to act as a brake on a lift, so it wasn't anything sensitive to force or speed. Just needed a small, easy to implement, non pneumatic linear actuation. Ours was a 30mm, 50:1 L12-R. They worked fairly well, but it's definitely not a digital control in there. There's distinct overshoot past the eventual commanded position if you give it a step change. Even the 50:1 seemed slow-ish. Check the specs to make sure it's going to move fast enough for your needs. I can tell you that while it's possible to unscrew the clevis from the end, you need to do it with the actuator extended, and rubber faced pliers on the rod to resist the torque. If you don't grab the rod, the servo internals aren't strong enough to resist the torque without damage. I pulled ours apart to see what the students broke, but all I could tell is the wiper occasionally losing contact with the tracks of the linear pot it uses for feedback. So try not to repeat our mistake. |
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#13
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Re: Legality of Linear Actuators
It's sold as a servo, and I see no reason that it does not fit the servo rules (sale price is the only rule requirement, and it also fits the current requirements). How is this a question?
Edit: Just in case, Q369 asked. Edit 2: answered. Quote:
Last edited by GeeTwo : 30-01-2017 at 14:17. |
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