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Our final design was a remake of our second prototype, with the inclusion of the first prototype of the claw. The same links and dimensions were used for the arm mechanism, and new bearings were used with the hope of fixing the friction of the arm. For a claw, an escapement mechanism was used to open it. The escapement mechanism locked the claw at each open position. Springs attached from the center point of the claw to each finger to tension close the claw once the escapement mechanism was detached. NEED BETTER DESCRIPTION OF THE CLAW.

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It featured new bearings to reduce friction as well as our new claw design. In our final demonstration, we allowed our input motor to run continuously at 10 rpm, facilitating the motion of the arm. Once the claw reached the object-pickup side, we held our finger in place to manually press a button to close the ratchet. Similarly, once the claw reached the object-release side, we held our finger in position to actuate the claw open. Between a few passes, we were able to demonstrate the successful pick and place of small and large objects alike.

For a future implementation, our finger will be replaced with a beam built into the frame on either side of the design to allow for autonomous functionality. To make our design warehouse ready, we would also pair the periodic motion of the arm with parallel conveyor belts that incrementally translate objects. To achieve segmented object traversal so our grabber can pick up the object while stationary, we can implement a geneva drive mechanism.

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