After founding a robotics team at Lamar High School (FRC #2587) I helped build AfRobot.  I led the team that designed and built the lift system.  We we quarter-finalists at  the 2008 Lone Star Regional and won the Website Award and Judge's Award. 

The robot lifts 40" diameter ball and places it on a 6ft overpass.  Additionally, AfRobot raced around a track to gain points.  The drive train was tank drive with 2 omni-wheels and 2 high-friction wheels to allow for quick left turns around the track.  The lift system consists of three nested boxes and a pulley system to raise the arms.


I was the lead for the lift system.  The lift consists of three nested boxes that uses a series of pulleys to raise the structure. When extended, the max height will reach approximately 97 inches tall. In stow mode, the height is about 52 inches. The lift can easily punch the ball off the overpass or replace the ball back on top.

Processor- PIC 18F (IFI Robot Controller)
Sensors - Grayhill Encoders 61R; Push Switches
Software - C Programming for microcontroller (MPLAB)
Power - 12V 18 A-h Lead Acid Battery
Drive Type - Tank Drive; Two CIMs & Toughbox with 10" wheels (2 omni and 2 high traction)
Body - 2"x1" square aluminum tubing
Lift - 1"x1" square aluminum tubing

Length    28in
Width     30in
Height    60 in
Mass     95lbs
Speed    10mph
Specifications

Testing the lift system that we built.  Not sure why we videotaped sideways...