# Drone Claw
## Overview
https://youtu.be/93u8R_UpoCw
## CPX Drone Claw
In this project we’ll show you how to build a DIY Drone Claw.
We designed and 3D Printed a claw attachment for the DJI Mavic Pro. This doesn’t obstruct the vision sensors so we can fly safely with obstacle avoidance.
This build can be used for educational projects like the classic egg drop or even delivering small objects.
You can also use this to pick up the trash, carry objects to research sites or even camping grounds. There’s a lot of tasks that you can do with a claw attachment.
## Light Pipes
The on board light sensor on the Circuit Playground Express activates the claw with a light pipe connected to the LEDs on the drone!
## 3D Printed Light Leak Proof Case
The Circuit Playground Express mounts inside our 3d printed enclosure to block out all light, so you can use it on any project that uses the light sensor!
## The Claw
##
The claw is actuated using a micro servo and remotely triggered using the remote controller.
We’re using the Light Sensor on the Adafruit Circuit Playground to detect when the LEDs are on.
## Trigger with Light Pipes
A light pipe tunnels the LEDs on the Drone into the 3D printed enclosure.
So the servo opens and closes when the LEDs are remotely turned on and off.
## Payload Weight
The Mavic Pro has a maximum payload capacity of about **2 lbs** or **990 grams**.
This gives us enough lift for use in situations such as research, where you would need to move around small specimens or even something like beach clean up!
## Parts
Listed below are all the components and hardware screws you'll need to build your own drone claw!
### Part: 130mm 02.0/1.0 Heat Shrink
quantity: 1
130mm 02.0/1.0 Heat Shrink
[130mm 02.0/1.0 Heat Shrink](https://www.adafruit.com/product/344)
### Part: 1.75mm Taulman T-Glase Clear Filament (130mm long)
quantity: 1
1.75mm Taulman T-Glase Clear Filament
[1.75mm Taulman T-Glase Clear Filament (130mm long)](http://taulman3d.com/buy-direct.html)
### Part: M3x6mm + nuts
quantity: 1
M3x6mm + nuts
[M3x6mm + nuts](https://www.albanycountyfasteners.com/Metric-Finish-Hex-Nuts-A2-Stainless-Steel-p/5560000.htm)
### Part: M2x5mm
quantity: 2
M2x5mm
[M2x5mm](https://www.albanycountyfasteners.com/2-5-MM-x-45-Phillips-Flat-Head-Machine-Screw-p/1011-1002.htm)
### Part: M3x16mm
quantity: 4
M3x16mm
[M3x16mm](https://www.albanycountyfasteners.com/Flat-Socket-Head-Cap-Screw-3MM-Stainless-Steel-p/5470000.htm)
### Part: M3x10mm
quantity: 1
M3x10mm
[M3x10mm](https://www.albanycountyfasteners.com/3-MM-x-5-Phillips-Flat-Head-Machine-Screw-p/1011-1006.htm)
### Part: M3 x 3mm Female Thread Brass Knurled
quantity: 1
M3 x 3mm Female Thread Brass Knurled
[M3 x 3mm Female Thread Brass Knurled](http://a.co/cQVKoZl)
### Part: M2.5x5mm
quantity: 1
M2.5x5mm
[M2.5x5mm](https://www.albanycountyfasteners.com/2-5-MM-x-45-Phillips-Flat-Head-Machine-Screw-p/1011-1002.htm)
### Circuit Playground Express
[Circuit Playground Express](https://www.adafruit.com/product/3333)
**Circuit Playground Express** is the next step towards a perfect introduction to electronics and programming. We've taken the original Circuit Playground Classic and made it even better! Not only did we pack even more sensors in, we also made it even easier to...
In Stock
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[Related Guides to the Product](https://learn.adafruit.com/products/3333/guides)
### Micro Servo - MG90D High Torque Metal Gear
[Micro Servo - MG90D High Torque Metal Gear](https://www.adafruit.com/product/1143)
Add more power to your robot with this metal-geared MG90D servo. The tiny little servo can rotate approximately 90 degrees (45 in each direction) and works just like the standard kinds you're used to but _smaller_. You can use any servo code, hardware, or library to control...
Out of Stock
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[Related Guides to the Product](https://learn.adafruit.com/products/1143/guides)
### Premium Female/Male 'Extension' Jumper Wires - 40 x 6" (150mm)
[Premium Female/Male 'Extension' Jumper Wires - 40 x 6" (150mm)](https://www.adafruit.com/product/826)
Handy for making wire harnesses or jumpering between headers on PCB's. These premium jumper wires are 6" (150mm) long and come in a 'strip' of 40 (4 pieces of each of ten rainbow colors). They have 0.1" male header contacts on one end and 0.1" female header contacts...
In Stock
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[Related Guides to the Product](https://learn.adafruit.com/products/826/guides)
### Lithium Ion Polymer Battery - 3.7v 500mAh
[Lithium Ion Polymer Battery - 3.7v 500mAh](https://www.adafruit.com/product/1578)
Lithium-ion polymer (also known as 'lipo' or 'lipoly') batteries are thin, light, and powerful. The output ranges from 4.2V when completely charged to 3.7V. This battery has a capacity of 500mAh for a total of about 1.9 Wh. If you need a larger (or smaller!) battery,
Out of Stock
[Buy Now](https://www.adafruit.com/product/1578)
[Related Guides to the Product](https://learn.adafruit.com/products/1578/guides)
# Drone Claw
## Circuit Diagram
Take a moment to review the components in the circuit diagram. This illustration is meant for referencing wired connections - The length of wire, position and size of components are not exact.
**Connections:**
**Servo**
- The Middle **RED** wire connect to **VOUT**
- **Yellow** connects to **A1**
- **Brown** connects to **GND**
The **500 mAh** battery connects to the **JST** port on the **Circuit Playground Express**
**Wire length**
- **CPX** : 110mm
- **PETT** : 130 mm (1.75mm)
**Screws** :
- CPX: Three M3x6mm + nuts
**Case** :
- Two M2x5mm
**Cover** :
- Four M3x12mm
**Claw** **left** :
- One M3x6mm + thread insert
**Claw right** :
- One M2.5x5mm
# Drone Claw
## Code
The Makecode activates the claw when the Circuit Playground Express detects light. Use the embedded code to run in a browser below:
[Open this project code in MakeCode](https://makecode.com/_WgrDeHKLf0RH)
## WebUSB
Makecode can also pair with your Circuit Playground Express through the Google Chrome web browser by [visiting this guide page](https://learn.adafruit.com/makecode/webusb).
Visit the project here: [https://makecode.com/\_WgrDeHKLf0RH](https://makecode.com/_WgrDeHKLf0RH)
This means code edit will upload directly to the Circuit Playground Express without the need to drag and drop file onto it!
Follow the instruction to set up your board and you'll be able to quickly send code to Circuit Playground Express!
## Mapping LEDs to Controls
We can easily map the "Head LEDs" to one of the customization buttons. These two buttons are located on the bottom of the controller.
First we'll connect our mobile device to the controller and then tap on the three dots on the upper right side of the screen.
We can edit the custom controls for the C1 and C2 button by tapping to the third icon shaped like a remote controller. Tap on one of the buttons and a drop down menu will show us all of the available options we can map.
# Drone Claw
## 3D Printing
## What If I Don't Have A 3D Printer?
Not to worry! You can use a 3D printing service such as [3DHubs](https://www.3dhubs.com/) or [MakeXYZ](https://www.makexyz.com/) to have a local 3D printer operator 3D print and ship you parts to you. This is a great way to get your parts 3D printed by local makers. You could also try checking out your local Library or search for a Maker Space.
Danger:
## Slice Settings
These settings are for a 0.4mm nozzle profile using CURA 3.3.1. Optimized for the Ultimaker 3.
- Layer Height 0.2mm
- Line Width 0.34mm
- Print Speed 50mm/s
- Retraction
- Maximum Retraction Count - 10
- Build plate adhesion type – skirt
- legs will require a brim
- Brim Line Count – 8
- Bed 60c
### Supports
We used Ultimaker Breakaway material for the supports with default profile settings, which are pretty much the same as standard PLA settings.
Info:
## Fusion 360 files
Below are link to modify the design of the enclosure, claws and LED clips to fine tune them to adjust to your printers tolerances.
[Drone Claws](https://a360.co/2ID4dYV)
[Drone Case](https://a360.co/2Iz3Lej)
[Drone LED clip](https://a360.co/2KmOF8L)
## STL files
Below are the links to the STL file we used to slice and 3d print each file.
[Download files from Thingiverse](https://www.thingiverse.com/thing:2913421)
[Download files from Youmagine](https://www.youmagine.com/designs/drone-claw)
## Design Source Files
The enclosure assembly was designed in Fusion 360. This can be downloaded in different formats like STEP, SAT and more. Electronic components like the board, displays, connectors and more can be downloaded from our [Fusion 360 CAD parts github repo](https://github.com/adafruit/Adafruit_CAD_Parts).
[Adafruit Part CAD files](https://github.com/adafruit/Adafruit_CAD_Parts)
## Leg Claw Supports and Support Blocks
Overhangs on the servo mount portion of the Leg Claw will need supports to hold up the walls. We enabled supports in Cura 3.3.1 and then set two " **Support Blockers**" over both tabs on the sides.
Support Blockers will not calculate any supports in the area they are placed.
The tabs have 45 degree angles, so we won't need any supports here.
##
## Breakaway supports
To make support removal painless, we recommend using dedicated support material like PVA, Polymaker's PolySupport, or Ultimaker's Breakaway filament.
Using support material will help parts maintain dimensional accuracy and won't fuse supports into the main part.
## Circuit Playground Case Supports
JST and USB ports on the enclosure protrude from the case to shielded and prevent any light from reaching the sensor. Unfortunately, we'll need to add supports to hold up the flat parts of the enclosure.
## NinjaFlex Port Coverts
The **JST** , **USB** and **Reset** **Button Extension ** is printed with NinjaFlex material. The covers require them the bend around the cylinder shape of the enclosure to help block out any lights that may enter in those areas.
# Drone Claw
## Assemble
## Prep Wires
We'll start by stripping our Female/Male 'Extension' Jumper to about **110mm long**.
We can optionally tin the wires to keep them from fraying or just twist them. Next we'll mold them into a hook shape.
## Connect wires to CPX
Instead of soldering, we can use three **M3x6mm + nuts** to connect the wires to **VOUT** , **A1** and **GND.**
Insert the screw from the top of the board and them attach the nut from the bottom of the board. Use your finger or a screw driver to hold the screw in place while attaching the nut.
Give the nut a turn or two, this way we'll have enough room to insert each wire.
Hook each wire to its pin and them use pliers to securely fasten each nut.
Position the wires as shown in the picture, this will make threading wires through the enclosure easier later!
## CPX case
Now we can move on to assembling the case. The case holds the Circuit Playground Express board and the 500mah battery.
The standoffs have enough clearance to allow the battery to sandwich in between the case and the CPX board.
## Lipo
First we'll lay the battery inside the case positioned as shown, with the connections near the opening on the case. Pass the wires through the opening and then insert the battery.
The CPX board lays over the battery. Align the board so the bigger cutaways can align with the USB port.
## Cover + Leg
The **cover** is attached to the **Left Leg** part using two **M2x5mm** screws. Insert the screws from inside between the standoffs. Fasten the two screws half in to help create the threads for the screws.
Next we can align the protruding screws to the holes on the side of the **Left** **Leg** part. Check that the mounting position is so that it leaves enough clearance on the bottom of the leg.
## Reset Button Extension
We designed a rest button part, so we could still access it while the CPX is inside the enclosure. Insert the **Reset Button** between the standoffs, next to the light pipe hole.
## Align case
Position the case and cover over each other so the bigger port cutaway aligns with USB port. Press fit the two parts and rotate them so both the JST and USB port opening align.
Use tweezers to ensure the holes on the CPX board align with the standoffs on both the case and cover.
With all of the holes aligned we can use a small drill to fasten the cover and case. To reach through the enclosure and CPX board, we'll need two or four **M3x16mm** screws.
## Leg Claw
Now we can move on to assembling the leg claw! First we'll prepare the **Left Claw** part.
This part is driven by the rotation of the **Right Claw.** To stop the claw from getting loose, we'll need to add a lock nut or a threaded insert to keep the screws from unfastening itself.
Use tweezers to help position the the threaded insert inside the **Leg Claw** part.
The **Left Claw** will use one **M3x6mm + threaded insert**. Insert the screws until it sits inside the grove above the gear teeth.
Align the **Left Claw** to the threaded insert. We used flat pliers to hold the threaded insert in place while fastening the M3 screw. Don't tighten it all the way, leave a bit slack so the claw can freely rotate.
## Right Claw - Servo Horn
The servo horn tightly press fits into **Right Claw** part, and is then secured with the included **M2.5x5mm** screw.
First, we'll want to align the gears of the claws so they are both at the close position as shown in the picture.
Carefully rotate the horn until you feel where the gear teeth insert into the servo and then press fit the horn into the servo.
Test the close position by connecting the CPX to verify both claws align when opened and closed. Modify by moving the claw until the gears both align to the closed position.
## Prep Light Pipe
To prevent light leaking into the sensor, we'll need to cover the sides of the PETT filament by painting, plastic dipping or using a sheathing like a heat shrink tube.
We measured a heat shrink tube 130mm long and inserted it over the PETT filament.
## Leg Install
With the CPX case and leg claw parts assembled, we can move on to installing the components.
## Leg Claw Install
The two tabs on the **Leg Claw** part are attached to a tapered support to allow it to slightly bend. Apply a small amount of pressure to squeeze the supports to allow the tabs to fit inside of the slotted feet on the Mavic.
## Front Legs
Rotate the leg parts so they align with shape of the Mavic legs. Make sure to clean and remove any overhangs left over after printing, as it could block the legs from fully seating into the parts.
## Wire clip
The wires are held in place with the **Wire clip ** part. The clip secures the servo wires to the side of the Mavics body, away from the sensors and propellers.
## Attach wire clip
Route the wires as shown in the picture. The **Leg Claw** part has a bit of slack to allow the cable to sit underneath the LED on the back of the Mavics body.
Pull the wire taut against the Mavics body to ensure the wires are away from the propellers and the sensors.
## Connect Jumper wires
Now we can go ahead and connect the servo wires to the Circuit Playground Express. Align the jumper wires and press them together until they are full connected.
## Wire Slack Tuck
You can insert any wire slack into the wire port opening on the enclosure.
## LED Cover Clip
To attach the PETT light pipe, we'll snap fit the **LED Cover** part onto the LED on the Mavics front propeller mount. Make sure you clean any retraction bits around the part and test fit inserting the light pipe into the clip before mounting.
Make sure the heat shrink completely covers the light pipe. If any light sources hit the light pipe it could trigger the sensor on the Circuit Playground.
## Port Covers
The **JST** and **USB** covers are 3d printed in [**NinjaFlex Cheetah**](https://www.adafruit.com/product/3185 "Cheetah NinjaFlex"). This allows them to bend around wires and tightly fit around the enclosure to block out light.
The **USB cover** slides into place from the bottom of the **Cover** part. Two grooves on the sides will allow the cover to slip into place.
The **JST cover** will first attach to the cable. Slip the JST wires through the slit and then press fit the cover into the port after you've plugged in the JST connection into the Circuit Playground Express.
## Fly
That's it! Now we'll double check that all of the components are secured, wires are away from the sensors and do a final check of the gears on the claws. You can continue to modify the code by removing the USB cover and connecting to you device. Once you have verified everything functions as expected, we are ready for lift off!
## Featured Products
### Circuit Playground Express
[Circuit Playground Express](https://www.adafruit.com/product/3333)
**Circuit Playground Express** is the next step towards a perfect introduction to electronics and programming. We've taken the original Circuit Playground Classic and made it even better! Not only did we pack even more sensors in, we also made it even easier to...
In Stock
[Buy Now](https://www.adafruit.com/product/3333)
[Related Guides to the Product](https://learn.adafruit.com/products/3333/guides)
### Micro Servo - MG90D High Torque Metal Gear
[Micro Servo - MG90D High Torque Metal Gear](https://www.adafruit.com/product/1143)
Add more power to your robot with this metal-geared MG90D servo. The tiny little servo can rotate approximately 90 degrees (45 in each direction) and works just like the standard kinds you're used to but _smaller_. You can use any servo code, hardware, or library to control...
Out of Stock
[Buy Now](https://www.adafruit.com/product/1143)
[Related Guides to the Product](https://learn.adafruit.com/products/1143/guides)
### Premium Female/Male 'Extension' Jumper Wires - 40 x 6" (150mm)
[Premium Female/Male 'Extension' Jumper Wires - 40 x 6" (150mm)](https://www.adafruit.com/product/826)
Handy for making wire harnesses or jumpering between headers on PCB's. These premium jumper wires are 6" (150mm) long and come in a 'strip' of 40 (4 pieces of each of ten rainbow colors). They have 0.1" male header contacts on one end and 0.1" female header contacts...
In Stock
[Buy Now](https://www.adafruit.com/product/826)
[Related Guides to the Product](https://learn.adafruit.com/products/826/guides)
### Ultimaker 3 - 3D Printer
[Ultimaker 3 - 3D Printer](https://www.adafruit.com/product/3300)
The **Ultimaker 3** is one of our favorite 3D printers on the market. It's a well-built open-source compact machine with an excellent UX. Every inch of the Ultimaker 3 is designed to create the most effortless and reliable 3D printing experience ever!
No Longer Stocked
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[Related Guides to the Product](https://learn.adafruit.com/products/3300/guides)
### Lithium Ion Polymer Battery - 3.7v 500mAh
[Lithium Ion Polymer Battery - 3.7v 500mAh](https://www.adafruit.com/product/1578)
Lithium-ion polymer (also known as 'lipo' or 'lipoly') batteries are thin, light, and powerful. The output ranges from 4.2V when completely charged to 3.7V. This battery has a capacity of 500mAh for a total of about 1.9 Wh. If you need a larger (or smaller!) battery,
Out of Stock
[Buy Now](https://www.adafruit.com/product/1578)
[Related Guides to the Product](https://learn.adafruit.com/products/1578/guides)
### PLA Filament for 3D Printers - 2.85mm Diameter - Black - 1.0Kg
[PLA Filament for 3D Printers - 2.85mm Diameter - Black - 1.0Kg](https://www.adafruit.com/product/3751)
_“Black is modest and arrogant at the same time. Black is lazy and easy – but mysterious. But above all black says this: 'I don’t bother you – don’t bother me'.” –_ Yohji Yamamoto
Having a 3D printer without filament is sort...
No Longer Stocked
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[Related Guides to the Product](https://learn.adafruit.com/products/3751/guides)
## Related Guides
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- [The MonkMakes Plant Monitor and CircuitPython](https://learn.adafruit.com/monkmakes-plant-monitor-and-circuitpython.md)
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