Modifications

== Vue d'ensemble ==

== Vue d'ensemble ==

The Robot Arm Kit for the Romi comes with one micro servo for the gripper and two standard-sized servos for moving the arm. All three of these servos are specially modified with an additional wire that gives access to the potentiometer feedback inside the servo. The micro gripper on the end of the arm uses a rack and pinion design with the pinion gear mounted to the servo spline and opposing racks to keep the gripper paddles synchronized and parallel to each other throughout the range of motion. Lifting an object will generally cause the Romi to tilt forward, so we highly recommend using the optional second ball caster in the front of the Romi. Additionally, using a rubber band to increase the stiffness of the built-in suspension on the  {{pl|1529|une bille en roue libre avant (optionnelle)}} can help stabilize the robot. The recommended maximum payload of the arm is 3.5 oz (100 g).

The Robot Arm Kit for the Romi comes with one micro servo for the gripper and two standard-sized servos for moving the arm. All three of these servos are specially modified with an additional wire that gives access to the potentiometer feedback inside the servo. The micro gripper on the end of the arm uses a rack and pinion design with the pinion gear mounted to the servo spline and opposing racks to keep the gripper paddles synchronized and parallel to each other throughout the range of motion. Lifting an object will generally cause the Romi to tilt forward, so we highly recommend using the optional second ball caster in the front of the Romi. Additionally, using a rubber band to increase the stiffness of the built-in suspension on the  {{pl|1529|une bille en roue libre avant (optionnelle)}} can help stabilize the robot. The recommended maximum payload of the arm is 3.5 oz (100 g).