Gear actuated robot arm

This is a robot arm that uses two nema17 and three 28byj-48 stepper motors to lift empty soda cans and other light objects. The robot arm uses gear trains to achieve higher lifting potential. The claw is designed to be able to open wide enough to pick up soda cans from the top or side. The claw is spring-loaded and the motor closes it by pulling on strings attached to the claw fingers.

Almost all parts of this project are 3d-printed, but you will need some springs and screws for the claw as well as for mounting the motors. These screws will depend slightly on the tolerances of your printer, but 3-4mm should work well. You also do need a long bolt for mounting the main gears, but if you do not have that then you can print an additional "Gear-bolt-short" and it will suffice as a replacement. You will also need the motors as well as some 10mm (8mm inside diameter) PVC pipes for the long arms. The C arm is 220mm and the B arm is 200mm. The two PVC pipes connecting the main gears to the