pic: Team 2584 Robot Tom

We used two window motors and a two stage reduction of 9.6:1 to move the arm, and pneumatics to move the wrist, fingers, minibot tray, and alignment tool. The arm is connected by a linkage to a potentiometer. The sliders extend 22 inches, and the 6 inch wheels connect to a one speed KOP gearbox with two cims each. The minibot is not done. Our VEX based prototypes worked well, but when we try to do the same thing with FTC parts things get complicated. The completed robot weighs 96 pounds with everything. Missing from the picture is one slider and its pneumatic, and electronics is cleaner now.