LogoLogo
  • Welcome!
  • Mission Statement
  • Contributing Guidelines
    • Embed CADs in Wiki Articles
  • VEX Worlds Livestream Archive
    • VEX U
    • V5RC High School
    • V5RC Middle School
    • VIQRC Middle School
    • VIQRC Elementary School
    • JROTC
  • ⚙️Hardware
    • Design Fundamentals
      • Gear Ratios
      • Internal Forces (Stress)
      • Torque
      • RPM
      • Center of Mass
    • Introduction to VEX Parts
      • Structure
        • C-Channels and Angles
        • Fasteners
        • Retainers
        • Gussets and Brackets
        • Bearings
        • Plate Metal and Flat Bars
      • Motion
        • High Strength Components
        • Gears and Sprockets
        • Traction Wheels
        • Mecanum Wheels
        • Omnidirectional Wheels
        • Flex Wheels
    • Robot Decorations
      • Part Dyeing
      • Metal Coloring
      • License Plate Holders
    • Lifts
      • Double Reverse Four Bar (DR4B or RD4B)
      • Four Bar
      • Scissor Lift
      • Six Bar
      • Other Lifts
      • Best Practices
    • Shooting Mechanisms
      • Catapult
      • Flywheel
      • Linear Puncher
    • Drivetrains
      • Tank Drive
      • Mecanum Drive
      • Holonomic Drive
      • Designing a Drivetrain
      • Best Practices
    • Pivots & Joints
    • Pneumatics
      • Best Practices - Pneumatics
    • Intakes
    • Flip Out Mechanisms
    • Defensive Mechanisms
    • Misc. Building Techniques
    • VexU
      • Common Manufacturing Techniques
        • 3D Printing
        • Laser Cutting
      • Custom Manufactured Parts Library
      • Commercial Off The Shelf Parts Library
  • 👑Team Administration
    • New Team Resources
      • Creating The Team
      • Gaining Interest for Robotics Teams
      • Attending Competitions
        • Elimination Bracket
    • Team Dynamics
      • Organization Structure and Longevity
      • Member Allocation and Management
      • How *Not* To Run a Team
    • Team Finances
      • One-Year Team Financial Breakdown
      • Funding Your Teams
    • Hosting Competitions
      • Live Streaming
      • Tournament Manager
        • Competition Electronics
        • Creating a Tournament
        • Tools
          • Field Set Control
          • Connecting Mobile Devices
          • Connecting Raspberry Pis
        • Match Control
          • Inputting Match Scores
          • Inputting Skills Scores
          • Inputting Scores on TM Mobile
        • Displays
        • Alliance Selection
      • Additional Event Partner Resources
    • VexU Organization Management
      • Getting Started in VexU
      • Team / Personnel Management
      • Volunteering At Local Events
  • 📚The Judging Process
    • The Engineering Design Process
      • Test and Refine
    • The Engineering Notebook
      • Segments of the Notebook
      • BLRS2 '23-'24 Engineering Notebook
      • Integrating Inventor Models into Documentation
      • Engineering Notebook Rubric Breakdown
    • The Interview
      • Interview Rubric Breakdown
    • Using Notion for an Engineering Notebook
      • How to Setup a Notebook
      • How to Create Entries
      • How to Export a Notebook
      • Purdue SIGBots Notion Template
        • Game Analysis
        • Identify The Problem
        • Brainstorm Solution
        • Select Best Approach & Plan
        • Build Log
        • Programming Log
        • Testing Solution
        • Tournament Recap
        • Innovative Feature
  • 🖥️VEX CAD
    • CAD Programs
      • Inventor
      • Fusion 360
      • Solidworks
      • OnShape
      • Protobot
    • Making a Chassis
      • Inventor Chassis: The Basics
        • Installation
        • User Interface Overview
        • Dark Mode
        • Assemblies
        • Placing Parts
        • Navigating CAD
        • Changing Visual Style
        • Grounding
        • Connecting Two C-Channels
        • Modifying Existing Constraints
        • Toggling Visibility on Existing Parts
        • Completing Half of the Chassis
          • Inner Drive Channel
          • Bearing Flats
          • Motors
          • Wheels
          • Sprockets
          • Spacers, Washers and Standoffs
          • Spacers Cont.
        • Creating Mid-Plane
        • Mirroring
      • Inventor Chassis: Best Practices
        • File Structure
        • Subassemblies
        • Wheel Subassembly
        • Origin Planes
        • Cross Brace
        • Drive Channels
        • Simple Motor iMates
        • Replacing Simple Electronics
        • Completing Half of the Drive
          • Bearing Flats (Best Practice)
          • Wheels
          • Powered Gear
          • Spacer Boxing
          • Spacers, Washers and Standoffs (Best Practice)
        • Model Browser Folders
        • Mirroring (Best Practice)
        • Model Browser Folder (Right)
        • Main Assembly
      • Fusion 360 Chassis
      • Solidworks Chassis, Chain, and Custom Plastic
    • Remembering The Best
      • 62A Skyrise
      • 400X Nothing But Net
      • 2587Z Nothing But Net
      • 365X Starstruck
      • 62A In The Zone
      • 202Z In The Zone
      • 5225A In The Zone
      • 169A Turning Point
      • 929U Turning Point
      • 7K Tower Takeover
      • 5225A Tower Takeover
      • 62A Change Up
    • Scuff Controller
  • 💻Software
    • Odometry
    • Path Planning
    • Robotics Basics
      • Arcade Drive
      • Tank Drive
      • Joystick Deadzones
      • Curvature (Cheesy) Drive
      • Subsystem Toggling
    • Organizing Code
      • Code Style
      • Code Styling Guide
      • Writing Good Comments
      • Version Control
    • Control Algorithms
      • Bang Bang
      • PID Controller
      • Basic Pure Pursuit
      • Flywheel Velocity Control
      • Kalman Filter
      • Take Back Half (TBH) Controller
      • RAMSETE Controller
    • Competition Specific
      • Operator Control
      • Autonomous Control
    • C++ Basics for VEX Robotics
      • Basic Control Flow
      • Enumerations
      • Namespaces (::)
      • Multiple Files (C/C++)
    • VEX Programming Software
      • PROS
        • OkapiLib
      • vexide
      • Robot Mesh Studio (RMS)
      • EasyC
      • RobotC
      • VEXcode
      • Midnight C
    • General
      • Stall Detection
      • Register Programming
      • Sensors and Odometry in Autonomous
      • Embedded Programming Tips
      • Debugging
      • Bit Shift
      • Bit Mask
      • Autoformatting
      • Finite State Machine
      • Data Logging
    • Object Recognition
      • Red Green Buoy
      • AMS
      • OpenCV
      • OpenNI
    • 🤖AI in VRC: Pac-Man Pete
  • ⚡VEX Electronics
    • V5 ESD Protection Board
    • VEX Electronics
      • VEX V5 Brain
        • V5 Electronics Observations and Issues
      • VEX Controller
      • VEXnet and V5 Robot Radio
      • VEX Battery
      • VEX Motors
    • VEX Sensors
      • 3-Pin / ADI Sensors
        • Encoder
        • Potentiometer
        • Limit Switch
        • Bumper Switch
        • Accelerometer
        • Gyroscope
        • Ultrasonic
        • Line Tracker
        • LED Indicator
      • Smart Port Sensors
        • GPS Sensor
        • Rotation Sensor
        • Vision Sensor
        • Optical Sensor
        • Distance Sensor
        • Inertial Sensor (IMU)
        • 3-Wire Expander
    • V5 Brain Wiring Guide
    • Legacy
      • VEX Cortex
      • Power Expander
      • VEX Motor Controller
      • VEX Cortex Wiring Guide
  • General Electronics
    • General Topics
      • External Boards
        • ASUS Tinker Board S
        • Arduino
        • Beagleboard
        • Leaflabs Maple
        • LattePanda
        • Meadow F7 Micro
        • Netduino
        • ODROID-XU4
        • Pandaboard
        • Raspberry Pi
      • Analog-Digital Converter (ADC)
      • Bit-Bang
      • GPIO
      • I2C
      • Jitter
      • Line Noise
      • List of Tools
      • Output Drive
      • Power Consumption
      • Radius Array
      • Resettable Fuse (PTC)
      • SPI
      • Slew Rate
      • Stalling
      • USART
      • UART
      • 5 Volt Tolerant
      • DC Motor Basics
Powered by GitBook
LogoLogo

This work is licensed under a Attribution-ShareAlike 2.0 Generic License

On this page
  • Pros and Cons Analysis
  • Resources
  • Teams Contributed to this Article:

Was this helpful?

Edit on GitHub
Export as PDF
  1. Hardware
  2. Lifts

Six Bar

The six bar lift, the four bar's big brother.

PreviousScissor LiftNextOther Lifts

Last updated 11 months ago

Was this helpful?

The six bar lift is a derivative of the . It utilizes the same geometry of four parallel bars, but in two stages. This split into two stages allows the lift to maintain a lower profile on the robot and condense into a smaller space, allowing for a larger lift to fit within the build limits.

Pros and Cons Analysis

Pros

Cons

  • Relatively easy to build and maintain

  • Front heavy when horizontally extended; more likely to tip forward

  • Increased potential for friction and slop due to the increased number of joints

Because the lifting length is longer on a six bar than a four bar, more torque is required in order to lift the arm to its full height. The weight and length of the six bar lift also creates additional friction on the joint of the lift and the motors powering it. This can lead to more issues than would be encountered with a four bar lift such as burnt out motors or broken parts. The added length of the lift arm can create a greater tendency for the robot to tip forward when lifting or moving. Heavier loads will increase this chance of tipping. Despite these issues, the six bar lift is a very common lift system as well because it is relatively easy to build and maintain when compared to scissor lifts and reverse six bar lifts. Like the four bar lift, the six bar lift keeps the lifted end at the same angle throughout a lift or decent.

Resources

Teams Contributed to this Article:

  • MTBR (University of Michigan Task Based Robotics)

It is typically recommended that only the top bar on the static end be driven by the motors, as there will be increased friction on the bottom arm as compared to the top. This can be alleviated by utilizing a PID control on the arm to ensure that one motor does not provide more force than the other on a given side, stressing the lift components and motors. As with every lift, using is highly encouraged to reduce friction, decrease slop, and increase strength.

If built properly, can reach higher than a lift on its own.

Similar to a four bar, this lift has a relatively easy implementation into adesign.

More torque necessary to lift to full height than a

(Purdue SIGBots)

⚙️
BLRS
four bar
four bar
four bar lift
"double reverse"
LogoSix-Bar Linkages - AURAAURA
Article from VexU team AURA overviewing six bar lifts
Video demonstrating the basic geometry of a six bar lift, courtesy of team 10D
screw joints
Visual comparison of the difference in compactness between a six bar and a four bar
Visual comparison of the height difference between a six bar and a four bar when fully raised