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12.6 Conclusions and Future Work

12.6 Conclusions and Future Work

How the Project Went

Our project was successful and met the main design objectives. We designed and built a mechanically coupled robotic arm and claw using a non-Grashof four-bar linkage for vertical motion and a secondary linkage to actuate the claw. The system was able to pick up and lift a small stuffed animal, demonstrating that the lifting and gripping motions were effectively integrated into a single degree-of-freedom system.

Did We Accomplish Our Objectives?

Yes, we achieved our goals:

  • Built a functional four-bar lifting mechanism

  • Mechanically linked the arm and claw without a second motor

  • Achieved synchronized motion where the claw opens when lowered and closes when raised

  • Successfully demonstrated grasping and lifting

Next Steps for Improvement

To improve the design, we would:

  • Reduce joint play and improve alignment

  • Optimize linkage geometry for smoother motion

  • Increase strength for heavier loads

  • Improve the claw grip with better contact surfaces

  • Add motor control for automation

Lessons Learned

  • Motion transfer depends on relative movement between links

  • Iteration is necessary to achieve proper function

  • Simpler linkage solutions are often more effective

  • Small alignment errors can affect performance

Future Work

  • Add sensors and control systems

  • Explore alternative actuation methods

  • Perform deeper kinematic and force analysis

Tips for Future Groups

  • Get basic motion working before refining details

  • Use CAD to test motion early

  • Expect multiple design iterations

Acknowledgements

We thank our instructor, teaching assistants, and lab staff for their guidance and support. We also appreciate fellow students who helped us think through design challenges.