This repository contains the CAD files and design documentation for the Perseus Claw, developed by FTC Team ByteForce 19234 for the Into the Deep season.

The claw was designed to be compact, modular, and reliable, with features tailored to handle the FTC Sample scoring element efficiently.

• Easy-to-replace servo: The servo is the main failure point in many FTC claws. In this design, you can replace it quickly by removing just a few small screws – no need to dismantle the whole mechanism.

• TPU grip inserts are shaped specifically around the Sample element.
• Provides automatic alignment during pickup for smoother gameplay.

• “Screw-through-bearing” design: The screw is supported by a bearing but passes through a reinforced plastic hub, distributing load and improving durability.
• Servo mounted at an angle: Saves space and keeps the overall claw footprint more compact.
• Double helical gears: Maintain alignment under load, reduce backlash, and prevent the gears from slipping out of mesh.
• Linked Fusion joints: The CAD uses two linked joints in Fusion 360, making it possible to fully animate the claw’s opening and closing motion.

To build the claw, you’ll need:

• M4 screws (various lengths depending on assembly)
• goBILDA bearings for smooth rotation and load distribution
• goBILDA structural components for mounting and integration with the robot
• Axon servo for actuation
• 3D-printed parts
  • Rigid material (PLA / ABS / PETG) for structural pieces
  • TPU for grip inserts

This repo includes:

• Fusion 360 (.f3d) → for full parametric design and animation.
• STEP (.step) → for sharing and cross-platform compatibility.
• STL (.stl) → for direct 3D printing.

1. Download the file format you need from the files/ folder.
2. Print TPU and rigid parts as specified above.
3. Assemble using M4 hardware, goBILDA bearings, and mount the Axon servo.
4. Attach to your goBILDA structure system and test on your robot.

• Design & CAD: Lazar (ByteForce 19234)
• Testing, feedback, and refinement: The ByteForce 19234 team
• Robot platform: The Perseus Robot, FTC Into the Deep (2024–25)

Special thanks to RedKyet for their guidance.

This design is shared for educational and competitive robotics use. Check the LICENSE file for details.