Bennett LinFor my FRC team, I co-designed the ground intake system for our 2025 season robot. This system consisted of a 4-bar linkage to deploy and retract inside the frame perimeter, which my partner focused on while I focused on creating a smooth intake that could pick up game pieces (4.5”x11.875” PVC pipes) (GP) off the floor.
Intake Design V1
Design includes guide panels in the back with an Archimedes screw as the bottom roller to orient GP. Includes three star wheels at the scoring indexer to push the GP into it. Black compliant wheels for easy intaking with wheel spacing of 1.5" for the front roller to allow GP perpendicular to intake to orient itself when it contacts the screw roller.
Intake Design V2
Version 2 replaced the bottom roller with a ramp. Included guide panels inside the intake system to orient the GP more smoothly, and more wheels on the front roller to ensure contact with the GP. This intake was faster and more consistent overall. It was a lot more durable and flexible than Version 1.
Prototype
Initial prototype focused on roller spacing to transfer GP over the bumpers. Back-bottom roller designed as an Archimedes screw to help orient GP perpendicular to intake. Around 15 inches wide set in between our drivetrain.
Guide Panels V1
3D-printed panels mounted on the swerve modules after intake to push GP into the scoring indexer.
Notices
GP that collided with the intake side panels would go up the intake vertically, becoming jammed. Archimedes screw roller did not play a big role in orienting GP.
Guide Panels V2
Fixed jamming issue with guide panels inside intake system. However, Archimedes screw roller made the intaking compression too tight.
Ramp
Removed the Archimedes screw roller and replaced it with a ramp design. Enabled for faster/smoother intaking. Included a teeth to help orient GP, later removed due to it digging into carpet, creating additional issues.