The design of gripper was the obvious next step and it was decided to make a really simple gripper that has 1 degree of freedom and not just latches on to the grips provided but can also be used to lift the survival chamber. Thus a two teeth design that moves up was considered. However considering the accuracy in positioning needed for two teeth, a more robust design using comb was considered.
Using this, the bot would be gripping on to things, initial testing showed positive results.
Final design includes the drive-train from 218B project with Whegs, 2 servos to control camera position and the gripper and a sensor to sense the cage/survival chamber. Different options for sensing are still being evaluated.
After finalizing this, a CAD model for the roamer was developed and using laser cutting final roamer was made.
After laser cutting and gluing parts together the final roamer design was ready. Here are some pictures-
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| Whegs |
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| Final Roamer |
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| Special Mount with a Lazy Susan |
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| Comb Gripper |
Using this, the bot would be gripping on to things, initial testing showed positive results.
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