This is intake version 8 for us. We modified the arm angles to improve the geometry and moved to smaller pulleys and smaller pneumatic cylinders. We did have to increase pressure in the cylinders to keep the closing force the same. With the smaller 9/16″ bore cylinders we need 40-55psi to be able to intake like this.
The whole robot is coming together nicely in CAD. This means very little for how the robot will work in real life.
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