Hand Gripper for Handicap Scooter

My senior capstone project, designed with the goal of mounting to the basket of a grocery store handicap shopping scooter.  The purpose for such a device, to be a cheaper, more accessible alternative to existing rotational joint multi-axis robotic arms for wheelchairs and mobility scooters. This final iteration of the design instead features only two axes of movement, via three telescoping arm segments (2 vertical, 1 horizontal).  All movements, gripper jaws included, are driven by internal rack and pinion systems. 

It is important to note that due to time, money and resource constraints the pictured model is only half the scale an implementable product would be.  Such a full size model would be capable of grabbing items of up to 5 lbs in weight from high shelves that would otherwise require the operator to reach overhead or stand within the scooter.  Tasks that could lead to injury or require movement that is not possible for the user in question.

This project was completed in collaboration with two fellow BSME students without whom the final model would not have been possible in the time allotted.  The portion of the project that I worked on mainly was the creation of all SolidWorks models and SW motion studies of the assembly operating for the final three iterations.  Though all members involved contributed to all steps of the process.