4 Bar Linkage: Thinking in the Box. Siri Maley FIRST Team 1640, 28 January 2011. Design Constraints. The 4-Bar Linkage has several states it must geometrically accommodate:. Floor Pickup. Feeder Pickup. Top Score. Low Score. Mid Score.
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FIRST Team 1640, 28 January 2011
The 4-Bar Linkage has several states it must geometrically accommodate:
In addition to fitting in the starting envelope & not leaving the 84” cylinder
We know this is possible; our issue it optimizing the design.
There are a lot of dimensions to play with…
How to Move the Parts:
Note: linkage and plate subsequently shortened
Also represents “safest” configuration (most within bumper perimeter)