The final design was a box-shaped robot with high, flat sides to press against the seismograph button and the final button. These sides were effective in pressing and holding buttons and helped to secure the Proteus. There was a small wooden extension on the side to rotate the satellite. As the robot drove forward, the extension pulled the satellite with it, completely rotating it. The same mechanism was used for the lever and the core sample. This mechanism was a claw mechanism built out of erector pieces and they were connected to a Futaba servo motor. The downward motion of the claw was sometimes enough to toggle the lever, but if that didn’t work, the robot would back up with the claw down and the back of the claw would catch the lever and toggle it. To obtain the core sample, the robot would drive up with the claw down and once it was lined up, the claw would rotate up slightly to catch it, and then the robot would back up. After the core sample was all the way out of the volcano, and once the robot exited the dead zone, the claw would go up to ensure the sample wasn’t dropped while navigating to the bins. The drawings above show each part, while the model below shows them all together.
Final CAD isometric.