FIRST Robotics Claw

Overview

Competition involved placing kickballs in enclosures and placing large washer shaped objects in front of the kickball enclosure to keep them from rolling out
Points are earned by how many kickballs and washers were placed and if any of the two rocket-shaped enclosures were fully complete
Team decided to have an arm with a claw that could pick up the kickballs and the washer
Claw picks up kickball by opening around it and closing
Claw picks up washer by opening inside of it and picking it up with friction, with the washer held in place by the bumps on the ends of the claw fingers

3D printed prototype assembled to verify if all constraints and tolerances are met
I designed the entire claw using Autodesk Inventor and 3D printed it

Second claw prototype with connection points for the arm installed and motor assembly installed
Motor assembly powers a linear actuator that opens and closes the claw
Was able to successfully pick up washers and kickballs and had enough space to place the kickball in the enclosure, as the claw goes inside the enclosure to deliver the kickball

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