After I resolved the instability issues I saw in the first prototype, my final prototype was complete. Video 1 4 shows the mechanism’s motion while the prototype was not carrying an object and video 2 Video 5 displays the mechanism carrying a water bottle.
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Video 4. Arm and claw mechanism moving without carrying an object.
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Video 5. Arm and claw mechanism moving a water bottle.
In the videos, it is evident that the claw is capable of moving an object, but it appears to struggle in gripping the water bottle. This is due to the shape of the gripper and the round design of the water bottle. Another thing I noticed was that the mesh between the gears could be improved. The spacing between the teeth of the small gear and large gear resulted in a choppy opening and closing motion of the claw.