At first, the design used four servos to control the elbow and wrist joints. While trying to program the servos to work together, we decided that using a motor would be much more efficient and hopefully cause fewer issues. Based on what one of our sister teams told us, they broke five servos trying to do the same thing, so we were happy to make the swap. This also makes it easier to make set positions. The wrist also only uses one servo instead of two. These changes made the robot a lot simpler and more efficient.  

The claw is entirely 3D printed with two speed servos allowing for them to be run separately. There is a 3D rubber printed part between the two moving parts of the claw, which allows for greater grip. The claw is paired with a pusher designed to align the pixels so that the claw can move down and pick them up quickly. We wanted to use this bi-claw design because it is both simple and it is efficient at doing its job.

The robot can support itself using its arms. We've attached two hooks that wrap around the bar so that it can pull itself up safely. We also tried to keep the hooks as close to the elbow joint as possible to require less torque and keep it towards the center of gravity.