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The objective for this project was to create a linkage mechanism, and to gain experience in the design, manufacturing, and analysis of linkages. We decided to make a robotic arm out of a linkage system and a ratchet-based claw for use in a manufacturing environment, specifically in moving objects from one conveyor belt to another. Our process has been documented in this wiki and organized into the following sections: Introduction and Background, Initial Project Proposal, Brainstorming, Manufacturing and Prototyping, Kinematic Analysis, Final Design and Demonstration, and Appendix. We used resources such as Solidworks, 3D printers, and laser cutters throughout this process.

The end result was a successful prototype, with an arm that moved from side to side and a claw capable of lifting objects weighing up to 10 pounds. We gained experience in the engineering design process, and learned how to design, prototype, test, and analyze links and linkage systems. Another important tool we learned was time management. Everyone on the team was involved in various other coursework and extracurricular activities throughout the semester, so it was important that we as a team and as individuals managed our time efficiently so that we were able to contribute to a successful project. One of the ways we were able to do this was through team meetings most weeks. Finally, we learned to understand what we are capable of doing within a semester. It was important that we did not bite off more than we could chew. While we wanted to create a mini-manufacturing environment to showcase our project, we learned that we needed to first make the star of the project, the star. We prioritized making a successful prototype first and foremost, and then evaluated how much more we could do.

This leads to what we can improve on with our project, and the next steps. As stated in the section titled "Final Design and Demonstration," we want our finger to be replaced with a beam built into the frame on either side of the design to allow for autonomous functionality. To make our design warehouse ready, we  want to pair the periodic motion of the arm with parallel conveyor belts that incrementally translate objects. This involves also creating a manufacturing environment to showcase our project through conveyor belts and objects for the arm to grab. We can also implement a Geneva drive mechanism to achieve segmented object traversal so our grabber can pick up the object while stationary.