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HAB Climb Lift Deployed
HAB Docking, earning at least 15 HAB Climb Bonus Points, earns an alliance a ranking point. A Level 3 climb allows one alliance partner to earn 12 points by itself, so a 3 point Level 1 climb by another partner is all that's needed to achieve HAB Docking. Our HAB Climb Lift is designed to reliably enable a Level 2 or 3 climb.

The HAB Climb Lift comprises a deployable "drive-train on stilts" separated into forward and rear HAB Lifts.

The forward HAB Lifts consist of a widely separated pair of wheeled lifts located just behind the front swerve modules. These are lowered and raised together, powered by the Lifts Gearbox. The wheels of the forward HAB Lifts are undriven.

The rear HAB Lift consolidates two driven wheels on a single axle into a single unit. The rear HAB Lift is raised and lowered by a dedicated motor: a 775Pro with a 100:1 2-stage Versaplanetary gearbox. Wheels are driven by another 775Pro with a 35:1 2-stage Versaplanetary gearbox located on the top of the lift, driving the wheels via a long driveshaft.

The HAB Lift sequence is:

  1. Deploy (lower) the Front and Rear HAB Lifts in sync to raise the robot to HAB Level (2 or 3)
  2. Drive forward (via the driven Rear HAB wheels) until the front robot wheels are over the HAB
  3. Raise the Front HAB Lift
  4. Drive forward (via both robot drive-train and the Rear HAB wheels) until the rear robot wheels are over the HAB
  5. Raise the Rear HAB Lift
  6. Optional: Drive forward to be fully on HAB

Front and Rear HAB Lifts must be synchronized when lifting the robot. Encoders are on both Front and Rear HAB Lift systems, with equal response (counts/inch).