Intakes and Linkages

4 Bar Linkages:

Pros:

 - Can take a beating   

 - Can take up less space if made well

Cons:

 - Time consuming to make

 - Mostly needs pneumatics

Image above is 1678 2022 Rapid React Intake

How to make a 4 bar Intake:

1. Create your base Geometry

 

2. Create a line marking where the bumper ends, and copy your geometry past the line.

3. Create 2 circles linked up to the same two points on the Geometry (Make sure to lock your Geo in place).

4. Mess with your circles to make them fit.

Criteria for Circles:

 - Centerpoint must be behind the bumper lines 

 - Try not to make them too low on the robot

 - Try to keep the circles similar size

5. Dimension the Circles and their position. *At this point you can remove the bottom Geo's connections and move it around :)

6. Add Lines and Liven it up (Add bearing holes, Slots ect.)

7. Finished