ROBOTIC TECHNIQUES

| |
|P1 Pa|
|P2 Pb|
|P3 Pc|
axis axis
\ SPRING/ motor

a fishing string goes through the step motor to the pulleys p1 - pa, p2 - pb ...
as the step motor spins, each pulley set (2 pulleys) will
double the closing force of the grip by 2, this is called a mechanical advantage.
as the motor spins backwords the spring or rubber band opens the grip.

1 a compiler : a software that enables the user to creat computer programs
2 a microcontroller that is compatible with the compiler used
3 electric components that connect to the microcontroller such as :
leds, stepper motors, electric motors, and sensors.
4 machine parts : this can be custom made using 3d printers, cnc machines...
or ordered.

legend :
cw : cogwheel
x : axis
ec : engine with cogwheel

| c|
| w|
x__x
|EC|

note the vertical CW is fixed to the arm (does not spin).