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  • 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