Angling robot while climbing

We’ve been trying to design our robot’s climbing mechanism and ran into a possible rule problem. The rules say in G23 that the cylinder is relative to the ROBOT. And the illustration shows the cylinder rotating based on the robot’s base. I attached some shots of our plan for climbing and we angle up, then extend arms. Does the back of our robot count as the base once we angle it? Or do our arms have to stay within 54 inches upward? Or does the cylinder not change?

screenshot1.bmp (360 KB)
screenshot2.bmp (344 KB)
screenshot3.bmp (555 KB)


screenshot1.bmp (360 KB)
screenshot2.bmp (344 KB)
screenshot3.bmp (555 KB)

http://www.usfirst.org/roboticsprograms/frc/blog-team-update-1-15-2013

If you’re touching the pyramid, the imaginary cylinder is however you want to orient it, as long as you still fit inside it.

A recent Q and A question stated that as long as you are on the pyramid, and your robot can fit within a 54" wide, 84" tall cylinder in ANY orientation, then your robot is legal.

Source:
https://frc-qa.usfirst.org/Question/184/per-g23-1-is-it-legal-if-a-robot-climbs-the-corner-of-the-pyramid-robot-frame-is-parallel-to-the-corner-bar-and-extends-an-appendage-towards-the-second-rung-for-a-total-distance-of-70-inches-htt

Edit: Barely beaten to the punch :slight_smile:

Edit: RE: To below: Lies.

The cylinder is not affixed in any specific orientation about the robot once you are in contact with the pyramid.

From Q&A:

The 54 in. cylinder is not fixed to a specific reference point on the ROBOT when the ROBOT is contacting the PYRAMID. In other words, if a 54 in. right cylinder with a height of 84 in. could, in at least one orientation, fit around the ROBOT, the ROBOT is in compliance with [G23-1]-A.

Cool climbing mechanism :smiley:

EDIT: Come on John! Pfft, my answer’s the better than yours… :slight_smile:

Thanks. That cleared everything up.