Heisenborg 2 features an arm and elevator system for handling game pieces. The arm design is capable of handling both totes and containers. For stacking totes the arms secure a tote, lift it with the elevator, place the tote on top of another tote, and continue stacking by grabbing from the bottom. With this method we are capable of a 4 stack with a container on top, or a 6 stack with no container.

Heisenborg 2 has a mechanum drive system with 4 CIMs.

Heisenborg 2 was able to achieve a successful autonomous by bringing a yellow tote and a recycling container to the auto zone.


Average Score: 44.3
South FL Rank: 34
Drive Team: James Fitzsimmons, Tyler Frost, Cristian Leocadio, Jake Schlinkmann
Awards: Industrial Design Award

Game Overview

Recycle Rush

Recycle Rush is a recycling-themed game played by two Alliances of three robots each. Robots score points by stacking totes on scoring platforms, capping those stacks with recycling containers, and properly disposing of pool noodles, representing litter. In keeping with the recycling theme of the game, all game pieces used are reusable or recyclable by teams in their home locations or by FIRST at the end of the season.







Our Performance

South Florida Regional


Average Score

Rank: 34/50

Orlando Regional


Average Score

Rank: 32/64

Key Components

Arms and Elevator

Heisenborg 2’s end effectors are water jetted aluminum claws with delrin inserts between the aluminum cutouts. On the end of each arm are water jetted Lexan cutouts designed to fit into the slots of each tote. Each arm is actuated by a pneumatic pancake cylinder behind the fulcrum.

Heisenborg 2’s elevator mechanism rides on two precision rail slides for minimum friction loss. A single CIM geared down by a custom gearbox and a worm drive powers the elevator.

Heisenborg 2’s reliable autonomous mode is the result of the elevator position being extremely accurate.


Heisenborg 2 is powered by 4 CIM motors, each driving one AndyMark mecanum wheel through custom CNC machined gearboxes. The wheels are belt driven and enclosed inside the chassis.

The gearboxes were designed to be able to swap between a 4/1 and a 3/1 ratio with minor modifications in the event that speed was an issue at competition.

Custom Chassis

Heisenborg 2’s chassis is made out of 1/16 inch sheet metal and was custom designed for Recycle Rush. The chassis features mounting points for all of our electronics and motors, and also functions as a protective enclosure for the robot’s vital components.

The chassis is extremely rigid due to the box design and allows the robot to be lifted and moved from anywhere on the frame.