DEWBOT VII utilizes a 3-hook climber system allowing the robot to climb up to the TRANSVERSAL RUNG of the HANGER during end game. The Center hook arm (the Climbing Hook Arm) extends and articulates between vertical and 20° forward of vertical. The Climbing Hook Arm is modeled on a 2-stage
Thrifty Bot Telescoping Tube kit. Constant force springs provide the extension force for the arm, while a Gearbox Winch controls the extension and retraction. A pair of pneumatic cylinders control the Climbing Arm angle articulation.
A pair of Static Hook Posts flank the Climbing Hook Arm. These Posts do not articulate, but the Static Hooks which terminate them do rotate and are spring loaded to allow the Climbing Hook to bring each RUNG to a point below the Static Hooks, then extend to transfer the RUNG from the Climbing Hook to the Static Hooks.
The Climber Gearbox employs four (4) NEO motors and 20:1 reduction designed to allow the robot to climb vertically at a speed of about 12 inches/s and deploy at about 20 inches/s. A dog-based lock allows the Gearbox to be locked into position, both to prevent inadvertent Climber Arm extension and back-driving during climbing.
I'm betting that many robots (Including DEWBOT XVII) reaching the TRANSVERSAL RUNG will slam into the Drivers' Station window. Hard. This will certainly test the nerves of the drive team in DRIVERS STATION 1. I'm not sure whether this is a game fault or a feature.
Climbing Sequence
Positioned ready to climb
Climbing Arm extended & touching MID RUNG
Climbing Arm retracted - Static Hooks compressed by MID RUNG
Climbing Arm fully retracted - Static Hooks return to normal position
Climbing Arm extends - MID RUNG transferred to the Static Hooks
Climbing Arm rotates 20° forward and extends fully
Climbing Arm rotates back to contact the HIGH RUNG
Climbing Arm starts retracting - Hooks onto HIGH RUNG - Starts to pull the Static Hooks off of the MID RUNG
Climbing Arm retracts further - Static Hooks pull off the MID RUNG - DEWBOT swings forward (exciting!)
Climbing Arm continues to retract - Static Hooks compressed by HIGH RUNG
Climbing Arm fully retracted - Static Hooks return to normal position
Climbing Arm extends - HIGH RUNG transferred to the Static Hooks
Climbing Arm rotates 20° forward and extends fully
Climbing Arm rotates back to contact the TRANSVERSAL RUNG
Climbing Arm starts retracting - Hooks onto TRANSVERSAL RUNG - Starts to pull the Static Hooks off of the HIGH RUNG
Climbing Arm retraction pulls Static Hooks off of the HIGH RUNG - DEWBOT swings forward maybe slamming into DRIVER STATION 1 window - Climb complete