Below are images of our progression on building the intake.

Intake supports installed.
3” foam wheels with hex shaft hubs
Right arm frame
Right arm frame
Right arm assembly
Right arm assembly
Right arm installed on robot
Right arm installed on robot
Right arm installed on robot
Testing if it works as expected.
Intake pan and final supports installed.
Intake pan and final supports installed.
More testing to see what other adjustments are needed.

The stones are really propelled into the pan and rattle around. We need to soften the impact as they hit. We will look at putting some foam, rubber, or other energy absorbing material about the pan. We really like the way the stones are collected and deposited into the pan though. We just need to soften the impact in the pan.

We also need to install a seating servo to make sure the stone is pushed all the way into the pan and is well seated within the pan after intake. This way, the clamp can get at them each and every time. A slightly misplaced stone will be much harder, if not impossible, to clamp for stacking. We feel that this is a positively proactive position.

Also, a seating servo will help prevent stones that have been loaded in the pan from bouncing around as we travel about the field.