The arm consisted of two four bar linkages which lifted simultaneously. This is designed to keep the gripper level as to more efficiently grab blocks. We only had one available motor for the mechanism which did not have enough power output, so we used rubber bands to increase the available power. This design came after a scissor lift mechanism idea that we decided would not be as manufacturable.

The sliding and gripping mechanism was a late addition to the project after deciding that both a drive train and angling mechanism for the arm were not as effective. Underneath there is a geared rack and pinion which slides in and out. To fit into our size constraint, the whole gripper folds backwards and uses a spring to fling forward at the beginning of each match.

The robot's base was a rotating platform which the rest of the robot rested on top of. A motor is mounted in the center of a metal platform and rotates the upper, acrylic platform. There are four supports with Delrin attached to reduce friction. This was the most efficient and exact method of navigating the table as it did not involve any steering or translational motion.