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- 3 coaxial shafts (sheathed) are used to power axis 4,5 and 6
- concentric hypoid gears are powered by separate shafts to move axis 5 and 6 (complex gearing)
Ali
- planetary gear box for axis 1 (the base)
- for axis 3 for the linear actuator, if you place it inside it gives you more working area
- for axis 4 use belt ride
- for axis 5 use harmonic drive
Medina
- use a gear for the base
- use belt drive for joint 5 and joint 6
Things to further decide:
- will we have a screw driver built into the claw or
- make it so that the robot picks up a screw driver
- pick it up from the chassis somewhere specified
- pick it up of the ground?