Caster Mechanism

[Raul]

and that Wildstang (111) used a retractable skid plate

Yes, we used a skid plate to go into two-wheel drive for quick rotations of the robot. We used pneumatics for this for a simple reason - it can be actuated very quickly. The window motors can be geared properly to raise the robot, but the required gearing would make it move very slowly. If we used the window motors, we would have to wait too long to lower the skid and not be able to make very quick movements. Keep in mind that in last year's game, we had to raise our skid plate completely out of the way to allow for clearance while going over the ramp.

Raul

[Joe Ross]

In 2002, Team 340 did something similar. They used two wheel drive, with two ball casters on the far edge of the robot. When they grabbed a goal on the side with the wheels, they then actuated two pneumatic cylinders that lifted the casters off the ground and also lifted the opposite end of the goal. Thus, they had half off the goal transfering weight to the drive wheels with nothing dragging. It gave them a great turning radius.