Grabber

It uses 3 sensors i.e 1 SRF05 and 2 GP2D12 to detect objects and decide whether the object should be picked up or it should be avoided.GP2D12 were not stable enough so i soldered ..50uF capacitorsbetween the ground and Vcc.I used a 10 RPM Dc gear motor for the arm.

It gives around 8-9 Kg of torque at 9V . For using this motor i used a  L293D motor driver otherthan the onein main board and made connections on the breadboard. Since i didn't had any of the digital outputs left i used the digital inputs and converted them to digital outputs for controlling the arm motor

The gripper is homemade