The Pop Can Claw is now finished and picking up pop cans. It is not capable of picking up the large cans (they are too heavy for the current design). Instead it can pick up the short 8 FL OZ or narrow 7.5 FL OZ cans.

The design uses the extended fingers that reach out far enough down to grab the can low. The finger tips are generic electronic box feet that have been attached to short rods. These are fixed to the fingers with small pieces of aluminum angle. Here is a view of the claw in the open state:

The weight of the center plunger would allow for it to fall to the lower limit. This was too far down for the solenoid to pull it back up. Adding angle limits to the links movement stopped the plunger from going down too far. This was added to all three links.

With the plunger retracted into the solenoid, it will allow for the rubber feet to center and grab the pop can:

Now that the claw can pickup cans, the claw machine had to have the program modified a bit to allow for the can to be gently set down. Check out the claw machine build for details.