For our final design, we decided on a mechanism that uses a system of connecting links to mechanically couple the vertical motion of the four-bar rocker to the clamping motion of the claw. As the rocker moves through its range of motion, a secondary linkage transmits this motion to a sliding T-bar within the claw assembly. This converts the rotational motion of the rocker into linear motion of the slider, which in turn actuates the opening and closing of the claw jaws.
Connecting Rods to Combine Motions
Solidworks Assembly
Assembly
Final Design
Our final product consisted of the 4-bar crank system, the claw mechanism, the base, and the integrated circuits that powered the motor to actuate our robot arm.
In terms of circuits, we used an Arduino, a breadboard, a 9V battery, and a 13-kg servo motor
Updated BOM:
Part | Purpose | Quantity | Price | Source |
|---|---|---|---|---|
2 ft x 2 ft Acrylic Sheet 6mm | Used for double rocker links and claw arms | 1 | 32.00 | TIW |
Rotary Bearing | Reduce friction at joints | 8 | Excluded from BOM | TIW |
Bearing Shafts | Connect links | 8 | Exluded from BOM | TIW |
Plastic Gear Set | Used for claw mechanism | 4 | 6.91 | |
Servo Motor | Actuate double rocker | 1 | Excluded from BOM | TIW |