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The goal of this project was to create a linear actuating grabber to grasp onto milk crates reliably. The mechanism was designed on SoldiWorks and uses a variety of tools such as a CNC router, mill, and 3D printer. This was one subassembly to a robot made for the FIRST Robotics Competition 2018 game.
Winning Robot at FRIST FRC San Francisco Regional 2018
Industrial Design Award Winner at FIRST FRC Silicon Valley Regional 2018
I designed all 50+ custom parts myself and fabricated most of them. All of the off-the-shelf products were selected by me as well, adding up to around 150 individual pieces.
The majority of the mechanism is within this single part. The claw body had to be rigid and light with a complicated inside and a smooth outside to avoid catching on obstacles. This part was designed to enclose pulleys, spring components, rollers for smooth gliding, aluminum sliders, and cables.
The material used (Onyx, by Markforged) is a nylon based with finely cut carbon fibers in the filament. I also used a continuous kevlar fiber inlay on many of the layers in this part.
The Claw in Action.mp4
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