Could someone just use a larger actuator and come up with something a 12lb or 30lb bot could use?
Yes you can use any size cylinder and put it in any size bot. Just be aware that the larger the diameter of the cylinder the slower the actuation as the valve has to move more gas volume. Of course you could use multiple valves on a single larger cylinder to increase speed or even use multiple valves and a corresponding number of smaller cylinders (e.g. Toro and Matador used twin air systems for more speed and force).
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