Zombie Axles

Since the arm pivot is a dead axle, the shaft doesn’t spin with the arm. This means we can utilize the pivot shaft as a live axle to spin a pulley connected to the rollers. This is called a ‘Zombie Axle’, since the pivot shaft is being used as both a dead axle for the pivot and a live axle for roller power.

This design allows the roller motor to be located on the base of the robot, which reduces arm weight and protects the roller motor.