A question for all the teams that have experimented/built this type of intake for rectangular objects-- how do you compensate on your intake for the fact that sometimes the object doesn’t go directly into the intake side first? (i.e. the intake wheels grab two adjacent sides of the object, making a corner of the object face towards the robot). Thank you.
This is the first thing that comes to mind when I think of this.
Recycle Rush, the 2015 game, is definitely the place to look for this sort of mechanism. Also, the current FTC game deals with softer objects but they are still cubic. In recycle rush, a lot of teams had intakes where the intake wheels were either spring loaded, gas shock loaded, or pneumatic piston actuated on pivots so that the tote will rotate towards the ideal position.
All these will serve as ideas, but be certain to prototype - the cubes are very different to totes in many ways.