![robotc servo robotc servo](http://www.cs.csi.cuny.edu/~imberman/csc126/ROBOLABnxt_files/image048.jpg)
At first, I had trouble detecting the plastic cup, while at the second design, the plastic cup slide between claws.īoth claws have sharp heads and inclined towards the inside. I’ve been making more attempts until I agreed on the current design. The distance between the two claws can be adjusted enough to leave space and grab the plastic cup. Only one of the claws is attached to the output shaft of the servo, while the second claw is driven by the first claw through the gear system. The two claws attached to the servo motor moves left and right through a traditional gearing system.
![robotc servo robotc servo](https://slidetodoc.com/presentation_image_h/7ff06c54979ae781265cfde7cdaac0fb/image-19.jpg)
These servo motors cannot hold anything between the claws. SainSmart uses for the 6-axis robotic arm gripper the SG-90 servo motors. The solution was to use a high-torque servo motor able to maintain the position of the claws. I would have risked the robot arm being pulled up together with the cup. The rubber would have prevented the plastic cup from slipping, but it would have made it very difficult to take it from the claws. gluing a rubber piece to the inner surface of the claw is excluded.I could have made them less thick but I needed space to add the limit switch sensor for sensing the plastic cup. the claws have a thickness of 1 cm, that is about 20% of the height of the plastic cup.The plastic cup should not resist when it will be taken over by a person. Also, I can’t prevent the cup to not slide between claws with an abrasive material glued on the inner surface. The claws will not have to cover a large surface so there should be enough space for picking up the cup. First, the plastic cup has a height of 5.2 cm. I have a few constraints to accomplishing the above steps. A more complex design with several claws and many degrees of freedom would be too much. Two claws actuated by a servo motor are what I need to grab and move a plastic cup. I analyzed the steps, actions and worst case scenarios and I decided to stay in the classic design for the robot claw. I need a robot claw to carefully handle a plastic juice cup without breaking the plastic cup or losing it on the way. detect when the plastic cup is taken over.I use a limit switch sensor to detect the plastic cup detect if the plastic cup was grabbed.It is the classic robot arm which reproduces the industrial design. This claw is attached to a 6-axis robotic arm SainSmart. The first finished part of the platform was a 3D printed robotic claw. The beginning of 2019 found me working to build a platform for promoting sea buckthorn organic juice.