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Preliminary design has been focused on the smaller movements, rather than the entire movement of the entire arm. For the claw, a design has been decided upon and will be tested. Our design is taken from the image below (sourced from https://www.pinterest.com/pin/605804587362494274/). The two gears rotate together, providing the input for the two four bar linkages. Since the mechanism is a four bar linkage, it can be easily analyzed once dimensions are decided. Design for the arm is still in an early stage. The image to the right shows a sketch of the desired position profile, where the dotted lines represent the other arrangement of the arm. However, the actual mechanism to change the end position of the claw is not determined at the time of this writing.
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