I used to be really into Lego robotics. this is a robot from the 2007/2008 Power Puzzle challenge. It started out as something simple that was supposed to be kept simple, but when I started tinkering with pneumatics and pto's, things just got out of hand and I ended up with this.
The drive train consisted of 3:1 reduction to extra wide tires. a rotation sensor was used on each wheel to position the robot during its autonomous period. There's a 1:3 ratio driving the sensors (the blue box things) to attain the speed range that the sensors worked best in.
Many Implements were powered, but you were limited to three motors. One motor powered a lifting arm and a a PTO (power take off, like on a tractor) that powered implements. in later years, a clutch separated the worm drive box from everything else so that the PTO could spin infinitely.
In the end, murphys law came into effect even after working bugs out. The robot was able to consistently able to score perfect scores on the practice table, but never at competition (it did come close though!)
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