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R105       There are expansion limits. After the MATCH has started, ROBOTS may expand beyond the STARTING CONFIGURATION but are still subject to sizing constraints relative to the ROBOT, based on the initial STARTING CONFIGURATION. The sizing constraints are:

A.      After the start of the MATCH, ROBOTS may expand horizontally but must remain within a fixed 18 in. (45.70 cm) by 18 in. (45.70 cm) when fully expanded per G414. ROBOTS must be physically constrained to fit within these horizontal limits without the use of software.

B.      After the start of the MATCH, ROBOTS may expand vertically up to 18 in. (45.70 cm). ROBOTS may be physically constrained or software limited to fit within this vertical limit.

C.      Within the limitations per G415, ROBOTS may expand vertically up to 38 in. (96.50 cm). ROBOTS may be physically constrained or software limited to fit within this vertical limit.

Figure 12‑1: Horizontal Expansion Limit

Figure 12‑2: Vertical Expansion Limit Examples

Any extension beyond the maximum expansion limit during ROBOT operation is considered a violation of this rule. This includes flexible extensions (e.g., surgical tubing flappers, star intakes) that cause the ROBOT to exceed the expansion limit.

Teams should be prepared to show compliance with this rule and demonstrate their ROBOT expansions during the inspection process. During inspection, each team will be asked to show the ROBOTS STARTING CONFIGURATIONS and additionally its configurations at maximum mechanical (horizontal) extensions and mechanical/software (vertical) extensions. Software limits are not sufficient to demonstrate maximum extensions for horizontal expansion.

ROBOTS must show their maximum mechanical extensions during the inspection process. A ROBOT that can mechanically exceed the horizontal limit would be in violation even if the ROBOT has software limiting the position of the extension during the MATCH.

A ROBOT with a single mechanism that can extend out of both sides of a ROBOT would be allowed as long as the overall horizontal dimension at maximum mechanical extension does not exceed 18 in.

A ROBOT with multiple mechanisms that are not mechanically linked that can extend out of both sides of a ROBOT simultaneously would NOT be allowed if the overall horizontal dimension at maximum mechanical extension exceeds the 18 in. limit.

At maximum extension, a ROBOT in compliance will not exceed the maximum allowable vertical extension of 38 in. (96.50 cm) in one direction while maintaining the horizontal expansion requirements of 18 in. (45.70 cm) length and width perpendicular to the vertical height.

Teams are responsible for maintaining compliance with expansion limits and subject to penalties listed in G414 and G415 for any violations during the MATCH.

# contentMap.en
R105       There are expansion limits. After the MATCH has started, ROBOTS may expand beyond the STARTING CONFIGURATION but are still subject to sizing constraints relative to the ROBOT, based on the initial STARTING CONFIGURATION. The sizing constraints are:

A.      After the start of the MATCH, ROBOTS may expand horizontally but must remain within a fixed 18 in. (45.70 cm) by 18 in. (45.70 cm) when fully expanded per G414. ROBOTS must be physically constrained to fit within these horizontal limits without the use of software.

B.      After the start of the MATCH, ROBOTS may expand vertically up to 18 in. (45.70 cm). ROBOTS may be physically constrained or software limited to fit within this vertical limit.

C.      Within the limitations per G415, ROBOTS may expand vertically up to 38 in. (96.50 cm). ROBOTS may be physically constrained or software limited to fit within this vertical limit.

Figure 12‑1: Horizontal Expansion Limit

Figure 12‑2: Vertical Expansion Limit Examples

Any extension beyond the maximum expansion limit during ROBOT operation is considered a violation of this rule. This includes flexible extensions (e.g., surgical tubing flappers, star intakes) that cause the ROBOT to exceed the expansion limit.

Teams should be prepared to show compliance with this rule and demonstrate their ROBOT expansions during the inspection process. During inspection, each team will be asked to show the ROBOTS STARTING CONFIGURATIONS and additionally its configurations at maximum mechanical (horizontal) extensions and mechanical/software (vertical) extensions. Software limits are not sufficient to demonstrate maximum extensions for horizontal expansion.

ROBOTS must show their maximum mechanical extensions during the inspection process. A ROBOT that can mechanically exceed the horizontal limit would be in violation even if the ROBOT has software limiting the position of the extension during the MATCH.

A ROBOT with a single mechanism that can extend out of both sides of a ROBOT would be allowed as long as the overall horizontal dimension at maximum mechanical extension does not exceed 18 in.

A ROBOT with multiple mechanisms that are not mechanically linked that can extend out of both sides of a ROBOT simultaneously would NOT be allowed if the overall horizontal dimension at maximum mechanical extension exceeds the 18 in. limit.

At maximum extension, a ROBOT in compliance will not exceed the maximum allowable vertical extension of 38 in. (96.50 cm) in one direction while maintaining the horizontal expansion requirements of 18 in. (45.70 cm) length and width perpendicular to the vertical height.

Teams are responsible for maintaining compliance with expansion limits and subject to penalties listed in G414 and G415 for any violations during the MATCH.