20230114 Design of stepper motor driven claw

robosub2023
Written By Mia Chen 陈凯月

Taking inspiration from National University of Singapore Bumblebee’s 2022 gripper.

Started by designing bevel gears with 2:1 gear ratio (40 teeth to 20 teeth)

Isometric screenshot of Fusion360 CAD model of perpendicular bevel gears with gear ratio of 2:1. Gear coupled to servo will rotate twice for every one full rotation of bevel gear coupled to claw.
Bottom view of Fusion360 CAD model of 2:1 bevel gears. Smaller bevel gear pitch diameter of 36 mm.
Bottom view of Fusion360 CAD model of 2:1 bevel gears. Larger bevel gear pitch diameter of 77.764 mm.

Designed claw shape roughly based on Bumblebee. Angles and length are pretty arbitrary but can be defined later. Also, claw shape could be completely different to fit the game piece geometry more (will work on coming up with different claw shapes/make edits as the 2023 game pieces are revealed).

Fusion360 sketch of claw geometry.

Extrude, cut out slots, and joint claws together. I still need to add tolerance in between the claw slots to make it 3D printable.

Isometric screenshot servo driven claw slightly open, designed in Fusion360.
Isometric screenshot of servo driven claw fully closed. Designed in Fusion360.

Next, need to figure out what kind of motor we are using and integrate the motor into the design.

Mia Chen 陈凯月
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