FTC 14779 Power Play Collector System

Our collector has several interesting components in it. The first is the fish-tail style grabbers. They are intended to be printed out of TPU and they allow the claws to bend around the cones. Another interesting part is the Geneva drive connected to the servo on top of the gearbox. A geneva drive is a mechanism commonly used in the film industry to make consistent movements. In our case, we used it for the inherent self-locking mechanism. It allows us to have two positions open and closed with our claws. When it is in these positions the claw is fully locked and can not be moved by external forces. The final interesting system is the 4 bar mounted onto the back that has a distance sensor attached to it. We use this to detect junctions when we are placing cones.