Ideally you can mount the claws with three servos to get three axes of motion, but that adds to cost and complexity. To compromise, we eliminate the swivel servo at the base and fix the "arm" of the robot in place. This means that at the end of the mission the Sea Perch pilot must carefully drive the Robosub into the docking bay. Once it is all the way forward in the docking bay, the large "wrist" servo, which moves up and down, turning on the X axis, can be used to make the open claw descend oover the grappling pole. Then the little servo which controls the opening and closing of the claw itself can be closed, gripping the pole. |
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