3-Point Pick & Place Mechanism

Introduction
- Motivations: List common uses of pick-and-place mechanisms
Design
- (picture from proposal)
- 2D pick and place with an electromagnet end-effector
- how the mechanism can be made 3-dimensional
- (schematic)
- geneva mechanism and thrust bearings
- (stages of schematic)
- splitting effort between lower geneva mechanism and upper pick-and-place mechanism
Manufacturing
- access to 3d printing and laser-cutting and ordering process for parts
- smooth-operation through bearings and track rollers
- pick-and-place mechanism
  - changed size
- timing belt wheels
  - tensioning mechanism
- preventing shafts from slipping
  - press-fits
  - hubs
  - should have used D-shafts
Kinematic Analysis
Controls
- initial goal
- multiple uses of PID control
- how speed effects controllability of the motor
Conclusion