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In terms of circuits, we used an Arduino, a breadboard, a 9V battery, and a 13-kg servo motor.
Arduino Code
The code we used reads the joystick’s input and checks how it’s being moved. When the joystick is adjusted, the servo motor responds by changing its position, which controls our arm to open and close. This allows the 4-bar crank mechanism to pick up and release objects smoothly.
Updated BOM:
Part | Purpose | Quantity | Price | Source |
|---|---|---|---|---|
2 ft x 2 ft Acrylic Sheet 6mm | Used for double rocker links and claw arms | 1 | 32$32.00 | TIW |
1/4” Wood Scraps | Secures rocker links | 2 | $0 | TIW |
Rotary BearingBearings | Reduce friction at joints | 810 | Excluded from BOM$0 | TIW |
6mm x 200 mm Bearing Shafts | Connect links | 8 | Exluded from BOM | TIW | Plastic Gear Set | Used for claw mechanism | 4 |
5 | $3.20 | |||
Servo Motor | Actuate double rocker | 1 | ||
$0 | TIW | |||
Shaft Collars | Secure shafts | 14 | $0 | TIW |
6mm x 15 mm Bearing Shafts | Connect links | 6 | $0 | TIW |
6 mm screws | Fasten links | 6 | $0 | TIW |
8mm screws | Fasten links | 1 | $0 | TIW |
Arduino Uno | Control system | 1 | $0 | TIW |
Electrical wires | Connect components | 16 | $0 | TIW |
Joystick | Control movement | 1 | $0 | TIW |
PETG Filament | 3D printed base | 1 | $0 | TIW |
PLA filament | 3D printed hinge | 1 | $0 | TIW |
9V Battery | Provides power | 1 | $0 | TIW |