1. Overview
1.1 Introduction
1.2 How to Use this Handbook
1.3 Mechanisms
1.4 Kickoff Design Process
1.5 Online Resource References
2. Drivebases
2.1 Introduction
2.2 Tank Drivebases
2.3 West Coast Drivebases
2.4 H-Drivebases
2.5 Mecanum Drivebases
2.6 Octocanum Drivebases
2.7 Swerve Drivebases
2.8 Drivebase Gearbox Shifting
2.9 Further Comparison of Drivebases
2.10 Summary on Drivebases
3. Intakes
3.1 Introduction
3.2 Over Bumper Intakes
3.3 Through Bumper Intakes
3.4 Under Bumper Intakes
3.5 Filtering Considerations for Intakes
3.6 Summary on Intakes
4. Indexers and Storage Systems
4.1 Introduction
4.2 Linear Indexers
4.3 Moving Floor Indexers
4.4 Rotating Indexers
4.5 Filtering Considerations for Indexers
4.6 Summary on Indexers & Storage Systems
5. Flywheels
5.1 Introduction
5.2 Single Vertical Flywheel
5.3 Double Vertical Flywheel
5.4 Single Horizontal Flywheel
5.5 Double Horizontal Flywheel
5.6 Turntables (for Flywheels)
5.7 Further Comparison of Flywheels
5.8 Summary on Flywheels
6. Catapults
6.1 Introduction
6.2 Choo-Choo CAM Catapults
6.3 Standard (Large Snail) Cam Catapults
6.4 Sheared Gear Catapults
6.5 Winch Catapults
6.6 Pneumatic Catapults
6.7 Catapult Example
6.8 Turntables for Catapults
6.9 Summary on Catapults
7. Arms
7.1 Introduction
7.2 Single Bar Arms/Pivot Arms
7.3 4-Bar Arms; Chain Bars
7.4 6-Bar Arms
7.5 Double Reverse 4-Bar (DR4B) Arms
7.6 Theoretical Extensions of Arm Types
7.7 Summary on Arms
8. Lifts/Elevators
8.1 Introduction
8.2 Single Stage Lifts
8.3 Continuous Lifts
8.4 Cascade Lifts
8.5 Telescoping Lifts
8.6 Further Comparison of Lifts/Elevators
8.7 Summary on Lifts/Elevators
9. Advanced: Multi-Axis Arms
9.1 Introduction
9.2 Arms on Lifts
9.3 Extendable Arms
9.4 Multi Jointed Arms
9.5 Simple Arm & Lift Combinations
9.6 Summary on Multi-Axis Arms
10. Claws
10.1 Introduction
10.2 Static Claws
10.3 Gripper Claws
10.4 Roller Claws
10.5 Wrist Designs
10.6 Summary on Claws
11. Advanced: Motor Sharing Techniques
11.1 Introduction
11.2 Ratchets
11.3 Differentials
11.4 Gear Shifting
11.5 Summary on Motor Sharing Techniques
12. Design Process
12.1 Introduction
12.2 Navigating the Kickoff Design Discussion
12.3 Understanding the Game and Its Context
12.4 Formulating a Game Strategy
12.5 Planning the Robot
12.6 The Handoff to the CAD Team
12.7 A Macro Design Case Study
12.8 Closing Reflection
