The base has a bearing from a cheer and it is attached to a gear of 38 teeth, pitch of 3/8”, and a gear of 12 teeth attached to the motor it makes it a 3:1 ratio. The bearing makes the gear rotate easier for more efficiency.

The Gripper is made of aluminum. It is consisted by 3 gears and one motor. The gears are made out of Brass. They are 32 pitch and I use 1 of 12 teeth and two of 24 teeth that makes a ratio of 2:1. Inclusive I use a special motor that has a gearbox to make it slower and powerful.

The Elbow is attached to a motor in the base of the arm and the traction is send by chains to the elbow part and it is formed by four gears two of 9 teeth and the other two are 28 teeth so it makes it a 3:1 ratio by two so it is a 6:1 ratio, the gears are made out of stainless steel. The motor has a gearbox but it is not that powerful as the shoulder motor because it doesn’t have to do as much

force as the shoulder.

The Shoulder has the more powerful motor in the whole arm it is mostly the part of the arm that needs the most

power, it has the same gear ratio as the elbow but the motor is stronger and it has a gearbox on the motor. It has four gears two of 9 teeth and the other two are 28 teeth so it makes it a 3:1 ratio by two so it is a 6:1 ratio, the gears are made out of stainless steel.