![Razz :P](./images/smilies/icon_razz.gif)
Even though this was just going to be a small observation Rov I still kind of planned on adding a small manipulator to it anyway. The only problem is I will only be able to control either the manipulator or the tilt for the camera at one time. I'm going to try and make the manipulator easily removable and with modular grippers. This is a 50% version of the 3D Printed Manipulator I designed before... ... and this version will be a 3D printed design based off the gripper I made out of a Radio Shack Armatron that I used on my Seafox because I really like the parallel gripper design better I think. The gripper design uses a worm gear setup just like the original Armatron. I added some hooks to the grippers tips to add some versatility so you could close them stick them in a hole and open the gripper to grab the item with the hooks. The main arm and housing will be made from PVC Pipe and Fittings and use a shaft seal much like my Seafox manipulator. (The shaft is not shown in these diagrams.) There are quite a bit of bits and pieces to this design because I am incorporating a clutch into the motor. The Original Armatron Gripper had springs on the fingers that wouldn't let you stall the motor when it was closed all the way, my clutch design will accomplish the same idea. This may limit the gripping force but being as this is such a small Rov I won't be lifting much anyway. The clutch is basically just a slip clutch, the triangle surface on the green part mates with a corresponding cut out on the orange part and when the force is to much the entire motor pushes back against the spring and the mate is broken. This is another view showing the mating surface of the orange part. The modular part will use easily changeable gripper heads. This one being a golf ball grabber. This design could be used as a soil or water sampler. These are easy to print so the possibilities are endless.
Next it's on to the actual construction part.