pic: Team 1322 claw for 2011
 

Re: pic: Team 1322 claw for 2011
 

Correct me if I'm wrong, but it seems like your polycord all turns in the same direction. You might want to consider making an "X" with the polycord in the middle to reverse the direction of one of rollers if that's the case.

Re: pic: Team 1322 claw for 2011
 

Except if the purpose of the polycord is to rotate the tube once it is inside the clamp.

Re: pic: Team 1322 claw for 2011
 

Why rotate the tube with rollers when you could put the gripper on a wrist joint?

Re: pic: Team 1322 claw for 2011
 

KISS. If the top and bottom are run by two different motors, why add a degree of freedom you don't need for your design?

Re: pic: Team 1322 claw for 2011
 

For a roller claw I completely agree, but this is a pinch claw with rolling cord used for spinning. The rollers wouldn't otherwise be on there at all.

Re: pic: Team 1322 claw for 2011
 

Interesting that there's two rollers on the bottom and one on the top. Wouldn't that route 2/3 of the power to the bottom rollers, such that if you try to rotate the tube upwards it'd mostly just make a quick exit? Or would the pinch hold it in?

Re: pic: Team 1322 claw for 2011
 

I'm not sure if this intake will even get the tube inside the clamp without some sort of "pulling" force" (like the one made with two opposing rollers)

Re: pic: Team 1322 claw for 2011
 

Our design in on a vertical lift. When a tube is inserted into the claw in automatically closes than we can rotate the tube vertically. We do this so we do not have to raise the lift the additional 30 inches to get the tubes above the hook post. We also can tilt the whole mechanism down to the floor for floor pick up. If the cords were going the wrong direction it would not work for us but it works very well.