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Now that the claw design would only require a single input to open and close, I moved on to attempting to find a way to open and close the claw using the motion of the arm. After spending a lot of time failing to do this using by adding an addition link connecting the joint of the top claw to a link within the arm and a slotted slider, I concluded that it would be in my best interest to move forward with the project using a second servo motor to move the claw portion of the mechanism. This led to the final design shown below in Figure 4.
Figure 4. My final design for my mechanism.
In this final design, I added a third gear that would be connected to one of the gears controlling the claw that would be responsible for the opening and closing movement. This third gear would be powered by a micro-servo motor. This would conclude my design process for my mechanism.
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