Most Unique Features

[Nuttyman54]

Team 190's gripper uses one piston to both close our claw and raise the tube up to a 55* angle all in one motion. In addition, the top digit is a 4 bar linkage that curls around the tube, giving us maximum wrap, while allowing it to fit within our starting box. The grip surface is covered with 50 durometer Shore 00 polyurethane (similar to Dr Scholl's gel insoles in properties). The entire gripper weighs 4lbs including piston.

Our "wings" have a number of innovative features. They are made from sheet metal aluminum, and no one piece is thicker than 1/16". They have over 2000 dimpled holes in the top for strength and traction. Inside each wing is a complicated string system that activates various features automatically as the wings deploy:
1) There is a bungie attached to the outer wing sections that pull them out as the wings fold down.
2) One string attached to each of the three pistons keeps them within the starting box. These slacken to let them pop out.
3) A lexan anti-rollback device is also held down by a string which slackens with the bungie, allowing it to pop up.
4) the pistons lock into place with a ratchet system, to keep them from folding under when firing.

The wings have a constant slope of 12*, and an initial lip of 3/8". Thus, any robot with more than 3/8" ground clearance and sufficient drivetrain power can get up. The top lifting surface is 37.5" wide and and 36" long, so most robots can fit no problem. Once a robot is up, the pistons fire, raising them to 13". If the pistons malfunction or the robot does not make it up in time to fire, the anti-rollback device will keep them at 5" (these actually caught 1280 and won us SVR)

To reset, pins are removed from the capstans to unlock them from the globe motor shaft. The driver can then manually rotate the wings back into position.

When folded, the wings are held in place with cotter pins attached to a servo on the elevator. This doubles to keep the wings from deploying early, as well as providing strength and protection to the elevator.