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We quickly changed the design in order to be appropriate for the class. The desire for the class was a closed chain kinematic system while our initial design was two open chain robotic arms.
Figure 2: CAD of second design
Figure 3: Prototype of second design
As seen in Figure 3, the torque output of the servo was not high enough for the knife to go through the pit.
Figure 2: CAD of second design
Figure 3: Prototype of second design. We realized that a high torque servo was required for the final prototype. Additionally, there are motions in two planes required. Typically when one removes a pit from an avocado they cut down into the pit, twist the knife to loosen the pit from the avocado flesh, and then lift the knife and pit out of the avocado. This twisting motion was implemented in our final design.