Editing Self-righting mechanism

{{Weapon
|title1=Self-righting mechanism<br>(Srimech)
|image1=File:Lightning self-rights.gif
|caption1=Lightning self-rights
|pioneer=[[Frank|Spirit of Frank]]<br><small>(1994-1997 US events,<br>torque reaction)</small><br>[[BioHazard]]<br><small>(1994-1997 US events,<br>active weapon)</small><br>[[Cassius]]<br><small>(televised series)</small>
}}
The '''self-righting mechanism''' (more commonly referred to as '''srimech''', derived from the words '''s'''elf-'''ri'''ghting '''mech'''anism) is a device used by competitor robots in ''[[Robot Wars]]'' and other robot combat events to flip themselves back upright, if they get inverted or are left stranded on their sides. Srimechs are one of two main methods of neutralising the effect of [[Flipping weapons|flipping]], [[Lifting weapons|lifting]] and [[Vertical flywheels|vertical]] [[Heavy rotating weapons|spinning weapons]], the other being [[Invertible Robots|invertible designs]].

The first robot to attempt self-righting in the televised UK Series was [[Chaos 2|Chaos]], after being flipped over by [[Matilda]] during its [[Robot Wars: The Second Wars|Series 2]] [[Robot Wars: The Second Wars/Heat B#Final|Heat Final]] against [[Mace]]. However, the first successful use of a srimech was by [[Cassius]], also in Series 2, where it used its flipping arm to right itself after being overturned by [[Sir Killalot]] during its [[Pinball]] run.

==Power Sources==
Usually, self-righting mechanisms are powered by either pneumatics (usually as part of a flipping weapon, [[Chaos 2]] and [[Cassius]] were some of the first robots to have utilised these systems) or by an electric-driven system (as with the dedicated mechanisms used by robots including [[Hypno-Disc]], [[Panic Attack]] and entries built by [[Team Ranglebots]]). However, there are also occasionally self-righting mechanisms powered by other means, such as [[Razer|Razer's]] self-righting wings which were moved up and down by a steel cable attached to its [[Vertical crushers|crushing beak]], allowing the robot to self-right and perform its distinctive "salute".

==Origins of the Srimech==
The origins of the self-righting mechanism lie not only in UK ''Robot Wars'', but also in the original [[Robot Wars: 1994 US Championship|1994]]-[[Robot Wars: 1997 US Championship|1997]] US competitions, with famous American robots such as [[BioHazard]] and [[Vlad the Impaler]].

===Pre-TV===
The earliest known instance of a robot righting itself occurred during the [[Robot Wars: 1995 US Championship|1995 competition]]. On two occasions during its initial Heavyweight Melee, [[Axlebots|axlebot]] [[Frank|Spirit of Frank]] was flicked onto its side by [[Merrimac]], being left side-stranded on one of its wheels. On each occasion, it would use a combination of its wheel movements, and the inertia behind its [[Torque reaction|overhead torque reaction]] weapon, to try and free itself from that position. The resulting imbalance would allow Spirit of Frank to throw itself back upright, which was essential for it to demonstrate continued mobility and qualify for the Heavyweight Melee Final.<ref name="95-HW-Melee-2">[https://www.youtube.com/watch?v=j2oTrJe6X-Q 'Robot Wars 1995 - Heavyweight Melee 2', ''diabolicalmachine'' (YouTube), uploaded October 6 2008]</ref>

[[File:Originalbiohazard.jpg|thumb|BioHazard, one of the first combat robots to demonstrate self-righting capabilities]]
In [[Robot Wars: 1996 US Championship|1996]], BioHazard defeated rival machine Vlad the Impaler by pinning it for over 30 seconds. The Heavyweight Face-Off Semi-Final ended and BioHazard released its opponent, but Vlad the Impaler, apparently disappointed at the loss, turned and used its pneumatic lifting spikes to flip BioHazard over. BioHazard, in response, levered itself back onto its wheels using its electric four-bar lifting arm. This was generally believed to be the first display of self-righting from a powered weapon. Additionally, it was the first to be shown in official UK ''Robot Wars'' media, through the moment's inclusion in the ''[[American Robot Wars 1996]]'' and ''[[American Robot Wars Final 1996]]'' VHS releases. However, it took place after the conclusion of a match and had no bearing on the outcome.
[[File:Vladtheimpaler self righting.png|thumb|Vlad the Impaler, among the first robots to self-right during a battle]]

Srimechs became more prevalent in the 1997 competition, with multiple varieties among competitors in different weight classes. Most examples also provided early instances where a self-righting mechanism would allow a robot to continue fighting in battles: 
*The top-mounted 'piston' of Vlad the Impaler, consisting of a modified pneumatic ram that could quickly and repeatedly thrust it back upright from an inverted orientation. The device was successfully used to self-right from an immobilised position multiple times, but did not prevent Vlad the Impaler from losing a Heavyweight Face-Off rematch against BioHazard on a Judges' decision.
*The electric lifter of [[Hercules]], designed from the outset with an 180-degree arc and self-righting capabilities.<ref name="Hercules-1">[http://www.robotcombat.com/herc1building.html 'Hercules 1 - Robot Design & Build page', Robotcombat.com]</ref><ref name="97-HWMelee-5">[https://www.youtube.com/watch?v=bHsN3j7RSO4 'Robot Wars 1997 Final Heavyweight Melee 1 of 2', ''Andrew Lindsey'' (YouTube), uploaded May 11 2021]</ref><ref name="Spike-HWMelee-5">[https://web.archive.org/web/19991010004346/http://www.cybercomm.net/%7Ealindsey/rw97/heavymelee5.html 'HEAVYWEIGHT MELEE ROUND 5', Team Spike website (archived)]</ref>
*The electric [[Hammers|hammer]] of [[frenZy]], which was used to re-right Patrick Campbell's machine after it got tipped over by [[DooAll]] in the Heavyweight Melee competition. This marked the first documented case of a robot achieving this feat with a [[Overhead weapons|powered overhead weapon]].<ref name="97-HWMelee-3">[https://www.youtube.com/watch?v=aCaN-KecxvU 'Robot Wars 1997 Heavyweight Melee 3', ''Andrew Lindsey'' (YouTube), uploaded May 11 2021]</ref><ref name="Spike-HWMelee-3">[https://web.archive.org/web/19991009202114/http://www.cybercomm.net/%7Ealindsey/rw97/heavymelee3.html 'HEAVYWEIGHT MELEE ROUND 3', Team Spike website (archived)]</ref>
*The pneumatic lifting arm of [[The X-2|X3]], the larger half of lightweight [[Clusterbots|clusterbot]] [[X7]]. Occasionally, this relied on pushes from the smaller '''X4''' to complete the motion; X3 could also use its rear wheels to reorient itself if tipped up onto its back end.<ref name="DefiantX7Semi">[https://www.youtube.com/watch?v=xR3Ypb4ylXA 'Robot Wars 1997 Lightweight match: The Defiant versus X7', ''Andrew Lindsey'' (YouTube), uploaded May 8 2021]</ref><ref name="LWMelee-1">[https://www.youtube.com/watch?v=8a4C8pGbIcM 'Robot Wars 1997 Lightweight Melee 1', ''Andrew Lindsey'' (YouTube), uploaded May 10 2021]</ref>
*An unusual method was demonstrated by featherweight entry [[Spike (MTV)|Spike II]]. Though the robot was invertible, a combination of drive torque, a low chassis shape and an uneven weight distribution allowed it to re-right itself by performing a 'wheelie' while upside-down.<ref name="Spike-97-Event">[https://web.archive.org/web/19991002215301/http://www.cybercomm.net/%7Ealindsey/event.html 'The Event', Team Spike website (archived)]</ref><ref name="RedGreenSpikeSemi">[https://www.youtube.com/watch?v=h_UqdZYNvVw 'Robot Wars 1997 Featherweight match: Spike 2 versus Red-Green', ''Andrew Lindsey'' (YouTube), uploaded May 8 2021]</ref><ref name="RedGreenSpikeSpike">[https://web.archive.org/web/19991008060406/http://www.cybercomm.net/~alindsey/rw97/redgreenvsspike.html 'MATCH: RED-GREEN VS SPIKE II', Team Spike website (archived)]</ref>
*The 360-degree side arms of [[Autonomous Robots|autonomous]] champion [[Thumper]], fitted with spikes to allow the robot to turn itself back onto its wheels. However, this would be nullified if the robot became stranded against the wall at an angle.<ref name="HerculesThumper">[https://www.youtube.com/watch?v=tcrGHaF0xcE 'Robot Wars 1997 demonstration match: Hercules versus Thumper', ''Andrew Lindsey'' (YouTube), uploaded May 10 2021]</ref>

===TV Show===
[[File:Cassius S2.png|thumb|Cassius, pioneer of the srimech in UK ''Robot Wars'']]
In [[Robot Wars: The Second Wars]], Cassius was flipped onto its back by [[Sir Killalot]] during its [[Robot Wars: The Second Wars/Semi-Final 2|Semi-Final]] [[Pinball]] run<ref>https://www.youtube.com/watch?list=PL096DCF9124F25F58&v=hXIreYJq-p0&feature=player_detailpage#t=389</ref>. Despite this, Cassius used its [[Front-hinged flippers|front-hinged flipping arm]] to self-right, landing on its wheels and managing to continue its run. This was the first occasion where a srimech had allowed a robot to continue in a regular heavyweight tournament, as Cassius would progress to the Arena stage with its run.

Later in that series, Cassius fought reigning UK Champion [[Roadblock]] in its [[Robot Wars: The Second Wars/Grand Final#Cassius (5) vs Roadblock (1)|Grand Final Eliminator]]. Cassius was once again flipped over during the battle, but used its flipping arm to throw itself back onto its wheels before proceeding to defeat Roadblock via knockout. This was the first ever recorded instance of a robot going on to win a battle after being flipped over.

The term was coined by [[Rex Garrod]] after Cassius self-righted for the first time. Cassius, BioHazard and Vlad the Impaler are all credited with the evolution of the self-righting mechanism, and are all members of [[Team Run Amok#Outside_Robot_Wars|The Combat Robot Hall of Fame]].<ref>[http://runamok.tech/hall_of_fame.html The Combat Robot Hall of Fame ®, Team Run Amok website]</ref>

==Types==
During the show's history, there were multiple different ways in which a robot could self-right:
===Weapons===
[[File:Cassius_s2_selfright.gif|thumb|Cassius self-rights for the first time]]
[[File:MortisSrimechS3.jpg|thumb|Mortis demonstrates its self-righting arm]]
[[File:Iron-Awe self-right.png|thumb|Iron-Awe, the first UK ''Robot Wars'' competitor to use an [[overhead weapon]] to self-right]]
[[File:Mute self righting Judge Shred 3.gif|thumb|Mute struggles to self right, whilst Judge Shred 3 gets another flip in]]
[[File:Refbot counts out ceros.JPG|thumb|Ceros is counted out after losing power to its flipper]]
One of these methods was through the use of a robot's own weapon. This was first seen in Series 2, where eventual runner-up [[Cassius]] used its flipping arm to right itself after being flipped over on two occasions. Earlier in Series 2, [[Chaos 2|Chaos]] also attempted to self-right using its own flipping arm, but failed to do so. After Series 2, more robots began to be capable of righting themselves using their flippers, starting with [[Chaos 2]] in its [[Robot Wars: The Third Wars|Series 3]] [[Robot Wars: The Third Wars/Heat E#Heat Final|Heat Final]], with other flipper-wielding robots, including [[Firestorm]], [[Bigger Brother]], [[Thermidor 2]] and [[Apollo]], all proving capable of doing so in later series. 

In [[Robot Wars: The Fourth Wars|Series 4]], [[Iron-Awe]] became the first UK ''Robot Wars'' competitor to self-right using an axe, and this was followed by others including [[Dominator 2]], [[Terrorhurtz]] and [[Thor]] as the series progressed. Other forms of self-righting weapons included the lifting arms of [[Wild Thing]] and [[Mortis]], and the lifting scoop of [[Behemoth]], which was upgraded to do so for [[Robot Wars: Series 8|Series 8]]-[[Robot Wars: Series 10|10]].

[[Robot Wars: Series 9|Series 9]] Grand Finalist [[Aftershock]] became the first robot on the show to successfully incorporate self-righting capabilities into a spinning weapon. This is different to various other robots which have survived a flip with a lucky bounce off the spinner, as its disc and later asymmetrical bar spinner proved themselves reliable at quickly re-righting the machine.

The main advantage of self-righting through the use of a weapon is that all the design focus can be on exploiting the power from the weapon itself, increasing its effectiveness against opponents. It also saves weight and simplifies the internal layout of a robot by eliminating the need for separate mechanisms, along with any extra power sources and other required components.

The main disadvantage is that weapons are targets for opponents, and are also subject to damage or [[Malfunctions|malfunctions]]. These can adversely affect both the weapon's effectiveness and its capacity to self-right, or even result in the weapon failing completely. Pneumatic weapons, such as flippers and axes, are particularly susceptible to depletion as they run on limited CO<sub>2</sub> supplies, which will start to run out, either reducing the power of the weapon or causing it to stop firing altogether. This ultimately cost robots like [[Chaos 2]], [[Tsunami]] and [[TR2]] throughout both runs of ''[[Robot Wars]]''.

{|class="wikitable"
!Srimech Type
!Description of srimech
!Notable robots
|-
|[[Rear-hinged flippers|Rear-hinged flipper]]
|Robots are catapulted in an arch back onto their wheels. One of the most entertaining to watch but the one where CO<sub>2</sub> depletion is most problematic. Chaos 2 was the first to self-right successfully using this weapon type (Series 3, Heat Final). 
|[[Chaos 2]], [[Dantomkia]], [[Apollo]], [[Eruption]]
|-
|[[Front-hinged flippers|Front-hinged flipper]]
|Flipper activates and pushes body up and backwards until gravity pulls it back onto its wheels. Does not require an "explosive" flip but fails if pinned or does not have a clear space behind it. The first type of srimech to work successfully on the show (Cassius, Series 2 Semi-Final).
|[[Firestorm]], [[Mute]], [[Cassius]]
|-
|[[Lifters]]
|The robot is heaved onto its wheels as the lifter opens. Lacks the powerful trajectory that rear-hinged flippers have, and is usually slower.
|[[Wild Thing]] (Series 4-5), [[Mortis]], [[Big Nipper]]
|-
|[[Lifting scoops]]
|Same motion as Lifters. Effectiveness depends on the weapon's design, size and power.
|[[Behemoth]] (Series 8-10), [[Shockwave]]
|-
|[[Overhead Weapons]]
|Functions essentially in the same method as front-hinged flippers. Suffer from balancing issues if the robot is too wide or heavy (as seen in [[Bamm Bamm]]'s failure in [[Robot Wars: The Seventh Wars|Series 7]]), and from limited CO<sub>2</sub> supplies if pneumatically-powered.
|[[Dominator 2]], [[Iron-Awe]] (Series 4, 6-7), [[Terrorhurtz]], [[Thor]] (Series 8-10)
|-
|[[Vertical crushers]]
|TX-108, which competed in an unaired battle of ''[[Robot Wars Extreme: Series 1]]'', used a crushing arm which could push backwards as a srimech, negating the need for an additional mechanism. This allowed the robot to save weight, at the expense of slow self-righting, although TX-108 itself would not appear in televised combat.
|[[TX-108]]
|-
|[[Vertical flywheels]]
|The flywheel makes contact with the arena floor as the robot is inverted, 'kicking' it back onto its wheels.
|[[Aftershock]]
|-
|[[Bar spinners|Bar spinners (horizontal)]]
|When inverted, Apex could be spun up to full speed, and the gyroscopic imbalance caused the robot to naturally flip itself back over. However, this capability was never demonstrated in televised combat.<ref>Stated by [[Team Danby|Craig Danby]] to audience at filming</ref>
|[[Apex]] 
|-
|[[Bar spinners|Bar spinners (vertical)]]
|Functions in the same method as vertical flywheels.
|[[Aftershock]]
|-
|[[Unique weapons|Snapping jaw]]
|A jaw designed to snap downwards, which also exerts enough force when retracting to right the wielder.
|[[Bucky the Robot]]
|-
|[[Bludgeoners]]
|If placed on one of its front-mounted tool spinners, the Series 10 version of Expulsion could self-right through gyroscopic precession. However, this capability was never demonstrated in televised combat.<ref>https://twitter.com/robotexpulsion/status/933792347229388801</ref>
|[[Expulsion]] (Series 10)
|-
|[[Drums]]
|Although invertible, [[Concussion]] and [[Sabretooth|Sabretooth's]] drums in their Series 10 incarnations allowed each robot to self-right if inverted, using the gyroscopic forces acting on the robot as the drum spins.<ref>https://www.youtube.com/watch?v=btimsW9bd70</ref><ref>https://www.youtube.com/watch?v=sJa-XhSLOxo</ref>
|[[Concussion]] (Series 10), [[Sabretooth]] (Series 10)
|}

===Separate Mechanisms===
[[File:RazerPirouette.jpg|thumb|Razer raises its wings]]
[[File:X-terminator_2_self_righting.JPG|thumb|The Series 4 X-Terminator's side spikes push it back onto its wheels]]
[[File:HypnoDiscselfrights.jpg|thumb|Hypno-Disc heaves itself back upright against Atomic 2]]
[[File:Pulsar_srimech.jpg|thumb|Pulsar demonstrates its srimech arm]]
[[File:Shredder vs The Alien.jpg|thumb|The Alien uses its overhead srimech to clamp Shredder]]
[[File:Firestorm_vs_panic_attack.JPG|thumb|Panic Attack struggles to self-right against Firestorm 3]]
[[File:ChaosRazer13Black1.jpg|thumb|Razer has one of its wings ripped off by 13 Black]]
Not every weapon has a self-righting capability, so another form of srimech was a separate mechanism added to the robot, which existed in various forms across the show's history. These included top-mounted lids such as those found on the later incarnations of [[Panic Attack]]; the side-hinged bars of [[Hypno-Disc]] and [[Ironside3]]; self-righting wings attached to crushers such as [[Razer]] and [[Ming|Ming 3]]; and outward-firing side spikes such as on the various incarnations of [[X-Terminator]]. They could either function by re-righting the robot when it was on its back, or from its sides where it was most susceptible to being stranded.

These self-righting mechanisms were advantageous in that they did not detract from the efficiency and longevity of a robot's weapon. In some cases, they could function as a secondary weapon to compliment or substitute for a non-functioning primary weapon (e.g. [[The Alien]] in its Series 6 battle against [[Shredder]]). At the same time, however, they added weight and complexity to a given robot's design, requiring certain allowances to accommodate for the extra mechanisms and components while adhering to the given weight limit. Additionally, they could often be easily targeted by opponents and were generally less effective than weapon-based srimechs in the Classic run. Like weapon-based methods, they were prone to failures if they were damaged or suffered an internal malfunction.

The aforementioned issues were of particular relevance to Panic Attack, whose self-righting lid rarely succeeded in fully righting the robot, and broke after [[Refbot]] tried to free it from the arena wall in the [[Robot Wars Extreme: Series 2|''Extreme'' 2]] [[Robot Wars Extreme: Series 2/Commonwealth Carnage|Commonwealth Carnage]]. [[13 Black|13 Black's]] side-bar srimech was also susceptible to failing, which it did in both of its Series 7 battles, while Razer's wings were easily torn off by both [[Big Nipper]] and 13 Black in the Classic Series. Even newer mechanisms, such as the arm on [[Magnetar]], could suffer from mechanical issues, which directly caused both of its losses in [[Robot Wars: Series 10|Series 10]].<ref>[https://www.facebook.com/teamranglebots/posts/1767766513527684?comment_id=1767768446860824&reply_comment_id=1767769630194039 Magnetar & Pulsar - Robot Wars Facebook post]</ref>

{|class="wikitable"
!Srimech Type
!Description of srimech
!Notable robots
|-
|Side Bars
|A small, top-mounted bar mechanism intended to push the robot sideways back onto its wheels. Hinged at one side by the edge of the robot, it was long enough to overcome any obstructions by the robot's weapons.
|[[Hypno-Disc]], [[Kan-Opener]] (Series 5), [[13 Black]], [[Ironside3]]
|-
|Overhead Bar
|A bar mounted on the top of a robot designed to turn the robot back onto its wheels either forwards or backwards. Differs from side arms in that they are usually hinged at the front or the rear of the robot, pushing it back onto its wheels in a similar motion to front- or rear-hinged lifters.
|[[The Alien]], [[Pulsar]], [[Magnetar]]
|-
|Overhead Lids
|A wide self-righting mechanism mounted on the top of a robot designed to turn the robot back onto its wheels either forwards or backwards. Ranging from multiple bars joined together (e.g. Cedric Slammer) to full-covered "lids" (e.g. the Series 4-5 and Extreme 1-2 versions of Panic Attack). They push the robot back onto its wheels using a similar motion to rear-hinged lifters. These srimechs were sometimes ineffective and prone to failure due to the slowness of their activation, with Panic Attack famously only self-righting once in three attempts.
|[[Panic Attack]], [[Cedric Slammer]]
|-
|Side Spikes
|Pneumatic spikes situated on either side of the robot, which would push it back over if it was positioned on its side. 
|[[X-Terminator]] (Series 3-4, Series 7)
|-
|Side Arms
|A mechanism very similar to the side spikes. Small arm-like mechanisms installed into the side of the robot which would push it back onto its wheels, and were attached close to the robot's base.
|[[Behemoth]], [[ICU]], [[X-Terminator]] (Series 5-6), [[Eric]]
|-
|Wings
|First, and most notably, used by Razer, these were most commonly seen in robots armed with vertical crushers. These were usually two blade- or wing-shaped mechanisms mounted either side of the robot, which were attached to the crusher by a cable, and would open when the crusher raised or lowered to a certain angle.
|[[Razer]], [[Ming|Ming 3]], [[Chompalot]]
|-
|Rotating Ring
|A large, rotating, metal ring around the robot that can tip it back on its wheels as well as flipping/lifting other robots.
|[[Nuts]] (Series 8)
|-
|Rotating Turret
|Modelled to look like a flamethrower previously used by [[Sergeant Bash|Sgt. Bash]], a turret with sideways rotation, capable of turning the robot back onto its wheels.
|[[THE BASH]] (Series 10)
|-
|Tower Mechanism
|The Series 4 version of Sir Chromalot featured a unique self-righting mechanism which was largely based on the side arm srimech. Supported by a large tower assembly, a series of 'legs' would push down on the robot, much like an umbrella, in an attempt to push the whole machine back onto its wheels. This srimech, while also preventing Sir Chromalot from being turned completely over, was never properly seen in action.
|[[Sir Chromalot]] (Series 4)
|}

===Passive Designs===
[[File:Extreme_mini_morg.JPG|thumb|The rollover design of Mini Morg]]
[[File:MightyMouse.png|thumb|The rollbar at the back of Mighty Mouse]]
[[File:Major_tom.jpg|thumb|The Series 6 version of Major Tom, showing the rollcage]]
[[File:Robochicken_vs_mega_morg.JPG|thumb|Mega Morg lies stranded after the flip by Robochicken]]
Passive designs were self-righting mechanisms which did not require any moving parts to work. Mostly, they all included some kind of curved armour or bars designed to roll the robot back onto its wheels when it was flipped over. Robots such as [[The Morgue]] and [[Velocirippa]] were successful at surviving flips by opponents as the momentum of the flip allowed the shape to carry them back onto their wheels.

However, they all required sufficient space behind them to allow the robot to roll back over. The robots rarely had a backup srimech if the robot was trapped on a wall, leading to the robot becoming immobilised. It was also possible for the robot to become stranded on its back if the flip lacked momentum, or was in the wrong plane of attack. These shortcomings resulted in Ivanhoe's defeat in Series 2 as it was lifted onto its side by [[G.B.H.]], and Mega Morg's loss in Series 7 after it was flipped straight onto its back by [[Robochicken]], which was not the intended direction aimed for by the design.

{|class="wikitable"
!Srimech Type
!Description of srimech
!Notable robots
|-
|Rollover body shape
|A roughly Semi-circular shaped body shell allowed the robot to continue rolling after being flipped, eventually falling onto its wheels. Very effective when flipped sideways, but problematic when flipped from the front, as demonstrated by Mega Morg against Robochicken in Series 7.
|[[Ivanhoe]], [[Depoppesaurus Rex]], [[The Morgue]]
|-
|Rollbar
|One bar mounted high above the robot, which used the imbalanced centre of gravity of the robot to roll itself back onto its wheels.
|[[Velocirippa]], [[Mighty Mouse]]
|-
|Rollcage
|A series of bars mounted on top of the robot to help it roll back over if it was flipped. The main difference between rollcages and the rollover design used by other robots is that the bars are exposed and separate from the robot, often leaving them vulnerable to being damaged in the process.
|[[Spikasaurus]], [[Major Tom]] (Series 6)
|}

==References==
<references />

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