A Dual Wing Claw Mechanism

Project Overview

The Dual Wing Claw Mechanism was developed to automate the controlled release of a 2024 FTC game element, known as a pixel, onto a designated scoring area during the autonomous period. This mechanism emphasized mechanical simplicity and field consistency, enabling reliable scoring and improved autonomous performance.

 

 

 

Functional Description

 The Dual Wing Claw features two pivoting arms (“wings”) that grasp the pixel internally. The wings are driven by a servo-actuated linkage system mounted on the robot. As the servo rotates, the slot geometry in the bottom plate allows the servo hub screw to travel, smoothly translating rotation into outward wing motion, thus releasing the pixel.

 

 

Operating Sequence

1. Raise Arm: Elevate the arm to position the claw above the drop zone.

2. Extend Wings: Activate the servo to open the claw.

3. Position Robot: Drive the robot into alignment using the drive-train.

4. Release Pixel: Extend the wings fully to drop the pixel.

5. Retract Wings: Close the claw to its resting position.

6. Lower Arm: Return the arm to its stowed position.

  

Performance Evaluation

• Reliability: The mechanism functioned as intended across multiple matches without structural failure.

• Challenges: Occasional encoder inaccuracies caused slight misalignment when dropping the pixel; future versions will incorporate encoder calibration and servo feedback control for higher precision.

• Impact: Provided a measurable autonomous advantage, enabling consistent pixel placement on both the near and far scoring zones and earning up to 20 autonomous points per match.