There two major mechanisms of the modular self assembling robot that I want to add motion to, the grabber and the self locking join. I decided to use the cheap and cheerful servos mechanisms to move all the parts, they are easy to replace and attach.
The grabber mechanisms
I designed these robotic fingers to fit the Rubber Finger Tips for better grips.
The mechanisms is fairly simple, using 2 servos to grab and release the objects.
https://www.youtube.com/watch?v=mYdiQCTD8U4
Self locking mechanisms, Redesigned
Lower Join
Upper Join
http://youtu.be/NvQmAxsNpVo
Pogo Pin contact points
Metal contact connector for pogo pins. GND, VCC, 2 signal wires. I milled the boards on Roland modela mdx-20.
I glued them in position. I probably should make them a bit more flexible next time.
Putting it together
The clear box allows me to see the locking mechanism in action and pogo pins in contact.
Coffee Cup Test
https://youtu.be/3yyif6HlXvs
Next Version
The grabbing function could be improved by adding pressure sensors on the tip of the robotics finger or adding current sensing circuits for the servos.