Open the Arm.
Lift the arm's encoder disk and remove the 7 phillips screws that hold together
the two arm halves.
The mechanism for opening and closing the hand is shown below. The hand is tensioned
towards its closed position by a pair of springs, one of which is visible in the photos. A motor with
worm gear rotates the gear train. The final gear has an offset pin that oscillates
as the final gear rotates, alternately opening and closing the hand. A microswitch next to
the motor detects when the hand is closed.
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