2025
ROBOT
Harpoon Intake
Harpoon Tip Contour // Neo 550 9:1 // SRPP Composite Structure
Funnel Pickup
Station Funnel // Coral Game Piece // Station-Side Collection
MK4i Swerve
L3+ Reduction (5.36:1) // Kraken X60 Drive // 19 ft/s Free Speed
Winch Climb
Intake-Style Deploy // Dyneema Pull // 30in Travel in 2s
Turntable Wrist
108:1 Gearbox // 10in Turntable Bearing // Dual-Piece Scoring
27"×32" Frame
1/8" Bellypan Pocketed // Battery Offset CG // Sparkmax on Pan
Cascade Elevator
3-Stage Chain Drive // 60in Full Extension // 0.4s Full Travel
Coral + Algae
Reef Zone Pick & Place // Barge Scoring // Retroreflective Confirm
MK4i Swerve Drive
Four independently steered and driven SDS MK4i modules provide full holonomic freedom across the field. L3+ gearing (5.36:1) driven by Kraken X60 motors achieves 19 ft/s free speed, with NEO motors handling steering. The 27" × 32" chassis runs an aggressively pocketed 1/8" bellypan with the battery offset to balance the center of gravity.
Harpoon Intake
The algae grabber uses 3" flex wheels 1" tall for linear speed when intaking algae. A harpoon-shaped tip on the contour deforms the ball when compressed for better grip and secure holding. A Neo 550 through a 9:1 reduction powers the wheels via HTD 5M 9mm pulleys. The structure is built from SRPP composite — a military-grade material chosen for its light weight and stiffness.
Cascade Elevator
A 3-stage cascade elevator — chain driven off a 3:1 gearbox powered by two Kraken X60 motors — covers the full 60" range of motion in 0.4 seconds. 2×1×1/8" uprights are supported by an A-frame and crossbars. Two hall-effect magnetic limit sensors define the range of motion. Igus chain is routed on the side to enable smooth wire motion.
Elevator Range
The carriage moves the full 60" range of motion within 0.4 seconds and is overextended for extra reach. A rectangular frame allows the turntable wrist mounting plates to bolt directly on.
Turntable Wrist
A Kraken X60 drives a 108:1 gearbox that rotates a 10" diameter turntable bearing — giving the end effector full rotational freedom without repositioning the elevator. The coral grabber uses 3" and 2" flex wheels driven by a NEO Vortex through a 3:1 reduction, with a spring-loaded alignment system providing a 60° acquisition window. A retroreflective sensor confirms coral capture.
Intake-Style Climb
The climb mechanism pivots downward from the robot chassis to deploy, then uses a one-way locking anchor to grab the cage bottom. Two Kraken X60 motors drive a 62.5:1 gearbox that spools dyneema onto a 1" drum, pulling 30" of travel in 2 seconds to lift the robot off the ground. The anchor uses a clevis-pin pivot with a custom spring-loaded latch as a one-way gate.
Station Funnel Pickup
The coral intake uses a funnel-style entry for station-side collection of coral game pieces.