Question on R02. Is it possible to extend past the frame perimeter?

[deltlead]

While working on the design for our ball hopper, we were trying to find ways to maximize our volume. One concept that was talked about was making the hopper collapse outwards after the start of the match, increasing its volume.

Essentially our design would be Lexan panels connected at the corners by mesh netting. After the start of the match, a pin would be pulled allowing the three panels to fall outwards past the frame perimeter but not past the edge of the bumpers, so it would still be within the robot's maximum volume.

Our concern is the interpretation of rule R01, page 63 of the game manual:
"The ROBOT (excluding BUMPERS) must have a FRAME PERIMETER, contained within the BUMPER ZONE, that is comprised of fixed, non-articulated structural elements of the ROBOT. Minor protrusions no greater than ¼ in. (~6.3 mm) such as bolt heads, fastener ends, weld beads, and rivets are not considered part of the FRAME PERIMETER."

.. of rule R02, page 64 of the game manual:
"In the STARTING CONFIGURATION (the physical configuration in which a ROBOT starts a MATCH), no part of the ROBOT shall extend outside the vertical projection of the FRAME PERIMETER, with the exception of its BUMPERS and minor protrusions such as bolt heads, fastener ends, rivets, etc."

...and of rule R03, page 64 of the game manual:
"Maximum ROBOT size, including BUMPERS and all extensions, must be constrained to one of two volumes:

A. 36 in. by 40 in. by 24 in. tall (~91 cm by 101 cm by 60 cm tall).
B. 30 in. by 32 in. by 36 in. tall (~76 cm by 81 cm by 91 cm tall).

The ROBOT must remain constrained to the maximum inspected volume at all times during the MATCH (i.e. A ROBOT may not switch between volume A and volume B without being reinspected)."

Since our design is made of articulating, non-structural elements it is not considered part of the frame perimeter. And our design's starting configuration keeps all parts of the robot contained within its frame perimeter, it should be legal to extend past the frame during the match as long as we keep it within the maximum build volume.

Can anyone confirm this is true? There was no clarification in the team update on this.