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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