The RoboSub course includes several game pieces which must be picked up and moved various locations. The gripper team is working on a mechanical claw for interacting with those game pieces. The gripper uses a servo to open fingers which can pick up and release the various game pieces, and surgical tubing to maintain a spring-loaded closed position. Additionally, it is mounted to an arm with another servo which allows for more flexibility in the positioning of the AUV. The gripper also features limit switches which allow for detection of objects within the gripper.

Testing of the gripper arm joint.

Testing of the gripper claw using a torpedo.