Learn servo motor control and mechanical actuation by programming a miniature claw gripper on the Pluto drone. This project teaches you PWM-based servo driving to open and close a grabber mechanism mid-flight - a key skill for payload delivery, pick-and-drop operations, and robotic drone applications.
Build a program to control the MiniClaw gripper on the Pluto drone. The claw should be able to open, close, and grip lightweight objects during flight using servo motor commands.
The MiniClaw 2.0 is a lightweight mechanical gripper designed to be mounted on the Pluto drone. It uses a micro servo motor to actuate a two-finger claw mechanism. By sending different PWM values to the servo, you can control the claw's open and close positions with precision. The claw is capable of gripping small, lightweight objects for pick-and-drop operations during flight. Control Signal ServoMotor Type 2-FingerGripper Type RCPort Used Servo Motor Type 2-Finger Gripper Type RC Port Used
Connect the MiniClaw 2.0 to the RC port on the Primus V5/X2 board. Ensure the servo connector matches the RC port pinout (Signal, VCC, GND). The claw mechanism should move freely without obstruction from the drone frame or propellers.
| Primus V5/X2 Pin |
|---|
PlutoBlocks code for this module is coming soon. Stay tuned for updates!
PlutoIDE C++ code for this module is coming soon. Stay tuned for updates!
Ready for the next challenge? Try these extensions to deepen your understanding.
| Peripheral |
|---|
| VCC on RC port | VCC on MiniClaw Servo |
| GND on RC port | GND on MiniClaw Servo |
| Signal on RC port | Signal on MiniClaw Servo |
Approach We use PWM signals to control the servo motor angle. Different PWM duty cycle values correspond to different claw positions - a low value opens the claw, a high value closes it. By toggling between these values on a timer or user command, we achieve grip and release actions. Code Logic Explained On Start: The servo is initialized to the close position by setting the PWM output to the close-state value.Pluto Loop: remains emptyOn Stop: The servo returns to the open position to release any gripped object. Detailed code logic and exact PWM values will be updated once the PlutoBlocks project documentation is provided.
Payload pick-and-drop delivery Aerial sample collection Robotic claw drone competitions
Ready for the next challenge? Try these extensions to deepen your understanding. 1Program a pick-and-drop sequence where the drone flies to a location, grips, flies back, and releases. 2Add a buzzer to provide audio feedback when the claw grips or releases an object. Pluto Drone Add-On Projects — Compatible with Pluto 1.2 (Primus V5) & Pluto X (Primus X2) — Drona Aviation