Articulating tubes on roller claws

[PAR_WIG1350]

Originally Posted by SuperNerd256

I know that I've seen teams articulate tubes to a desired angle, but they used 2 separate motors. Does anyone know of any way to accomplish the same thing but using only one motor?

Thanks!

Yes, You connect the motor and one set of rollers to one output of a bevel gear differential and the other set of rollers to the other output. By locking the differential case in place, the rollers spin in opposite directions rotating the tube within the claw, by locking the two outputs together, the rollers spin in the same direction to intake or release the tube. Now the real challenge is working out how to lock the outputs to each other and the case to the claw.