R29 and WCD

If you look at R29:

[quote] BUMPERS must be supported by the structure/frame of the ROBOT (see Figure 4-6). To be considered supported:

a minimum of 1 in. at each end of the BUMPER must be backed by the FRAME PERIMETER,
the gap between the backing material and the frame must not be greater than ¼ in., and
no section of BUMPER greater than 8 in. may be unsupported.

(insert attached illustration here)

If I am reading this correctly, it appears a WCD with cantilevered wheels larger than 5" is not legal (due to the 1/4" maximum frame to bumper gap).

However, It looks like a WCD with 4" wheels would be legal, since with the bumpers all the way up (top is at 10"), there would be room for the 4" wheels under the lower bumper frame.

Am I reading this correctly?[/quote]

Time to think outside the box. The Frame Perimeter doesn’t mean a solid frame. It just has to be supported at points that are less than 8" if the frame doesn’t completely back the bumpers.