A transfer mechanism moves items inside the robot from one mechanism, like an intake, to another, such as a scoring mechanism 4. When designing a transfer, it is important to consider where items will be moved from and to 1. Moving objects in multiple axes is difficult and can lead to errors, so aligning mechanisms allows transfers to act in straight lines, reducing complexity 1.

Key considerations for transfer design include:

• Simplicity Transfers should avoid unnecessary mechanical complexity, as fewer moving parts reduce the chance of failure 1.
• Efficiency The shortest distance rule suggests that scoring elements should follow one or two straight lines from collection to deposit to reduce cycle time 3. Overly long routes should be avoided unless necessary 3.
• Integration It can be beneficial to combine the transfer system with the intake or scoring system, reducing the total number of mechanisms needed 1.

Different types of transfers exist:

• Direct Transfer This system has the least mechanical complexity and is the fastest transfer system 5. It does not internally move the item, but requires the scoring mechanism to move behind the intake and into the scoring position 5.
• Grate Transfer This method uses two offset sets of "forks" on both the transfer and scoring mechanisms, allowing them to pass each other without intersecting 6. This enables fast transfer times but limits operation 6. It is commonly used with two sets of linear slides at an angle, often one horizontal and one more vertical 6.