RIS 2.0 Grabber Arm
18 August 2002
Mario E. Patiño 
-cybernesto-

This are the instructions of the Grabber Arm featured in the LEGO Robotics Invention System 2.0. This grabber arm can be built using only the parts found in the RIS 1.5/2.0 kit. It's based on the instructions provided on the CD.
Although a big effort has been put on making this files as accurate as possible, some difficulties regarding non-standard MLCAD angles didn't allow me to recreate the exact position of the claw closing mecanism. All the parts are represented  however, so it shouldn't be difficult to adjust the pieces by yourself.


This ZIP contains the following files:

armbase.dat - The Base Assembly (Build this first)
armclaw.dat - The Claw Assembly
complete.dat - The final Assembly
getriebe.dat - A worm gear transmission assembly (Build this before the Claw)
rbelt.dat - Yellow belt file
robotarm.lsc - Mindscript control Program


Wiring it together:
Connect the base motor to the Port C with a short cable
Put a short cable between the claw motor and the 1x2 Brick on the "turntable"-
Connect a second short cable between the Port A and the cable of the previous step.
Connect a long cable between the touch sensor closer to the claw and the Port 1. Use the pin with two fingers to keep it in place.
Connect a long cable between the light sensor connector and the Port 3. Use the other pin with two fingers to keep it in place.


Programming:
The example program from LEGO is included in robotarm.lsc. You'll need to use the Mindstorms SDK to use it if you don't own the RIS 2.0 software. You can download the SDK from the LEGO Mindstorms website.


Thanks to:
Fredrik Glöckner for his wonderful Emacs LDraw mode
Philippe Hurbain for his useful Rubber Belt generator
Michael Lachmann for MLCAD
Caroline for her support, and for accepting a boyfriend who still plays with bricks
all the LEGO community for the incredible work around the world, greetings from a venezuelan!.

For comments, recommendations or corrections please contact me cybernesto@excite.com