October

Pivot Break Down:

• The pivot system consists of a large gear, as shown in the picture on the left, with a gear ratio of 4:1. Attached to this gear is a 20:1 motor equipped with a sprocket and chain. This setup enables us to spin the chain connected from the sprocket to the large gear, allowing the arm to move from the intake position to the vertical scoring position, approximately 90 degrees.

• In total, this system operates at an 80:1 gear ratio, which we believe provides the optimal balance between speed and torque.

Slides Break Down:

• We used four stages of MISUMI linear slides with continuous rigging, powered by pulleys connected to two motors. The system utilizes two belts stacked together with REV gears, each operating at a 5:1 gear ratio. We used two motors instead of one to ensure the slides extend quickly while still providing sufficient torque, especially when pushing vertically against gravity.

Claw:

• For our claw, we incorporated several degrees of motion. First, there's a pivot that moves the claw up and down, powered by two Axon Max servos. Next, the claw has a rotation mechanism, allowing it to orient itself to match the angle of the sample. Finally, the claw itself is powered by an Axon Micro servo.

• However, we realized that using two servos to close the claw was unnecessary. Instead, we utilized gears—one driven directly by the servo, while the other is driven by the force transmitted from the first gear. This setup causes the gears to spin in opposite directions, enabling the claw to open and close efficiently.