Automated Robotic Linkage System | Emiliano's Portfolio

Mechanical Design Arduino PID Control MATLAB FEA CNC Machining CAD Linkage Synthesis

As a team, we were tasked with designing, building, programming, and tuning a robotic 4 bar linkage systems to hit buttons in a randomly generated order as quickly as possible while minimizing mechanism volume and transmission angle deviation. We received a $100 budget, not including the motor, Arduino, and aluminum stock.

I led the electronics and controls tasks (Arduino coding, and PID control tuning) while also contributing to CNC machining and linkage system synthesis.

Demo Video

Project Presentation

Technical Implementation

Core Technologies & Methods

Linkage Optimization: Minimized transmission angle deviation using random search algorithm in MATLAB
Finite Element Analysis: Optimized individual linkage morphology and material through FEA
Transmission Refinement: Used inertia matching to maximize linkage acceleration
Electronics & Control: Complete Arduino-based C++ control with PID control tuning for precise button pressing
Manufacturing: CNC machining, additive manufacturing for prototyping, and laser cutting
Innovative Mechanism: Designed folding mechanism for bonus button access using gate latch concept

Parts Manufacturing Process

Part	Manufacturing Task
Ground Link	Waterjet, drilled holes, reamed holes, press fit dowel pins and sleeve bearings
Gear	Drilled holes through gear for mounting to input link, press fit sleeve bearing
Pinion	Drilled hole through gear for set screw attachment, tapped hole
Input Link	Waterjet, drilled holes, reamed holes, press fit sleeve bearings
Hard Stop 2	Lathe
Follower link	Waterjet, drilled holes, reamed holes, press fit sleeve bearings
Hard stop 1	Lathe
Spacer 1	Lathe
Coupler	Waterjet, drilled holes, reamed holes, press fit sleeve bearings
Spacers 2-4	Lathe
3-D Printed Bonus Button Pieces	Designed, 3D printed, finished
Spacer 5	Lathe
3-D Printed Pieces for Solenoid	Designed, 3D printed, filed down
Motor Mounting Piece	Designed, 3D printed, filed down

Key Challenges

Technical Challenges Overcome

Bonus Button Mechanism: Designing a button pressing mechanism for the optional Bonus Button with constraints of 1 DC motor and 1 linear actuator
Size Optimization: Creating the smallest volume system while maintaining functionality and accuracy
Folding Mechanism Design: Developing a compact folding mechanism that unfolds and locks during homing sequence
Linkage Synthesis: Optimizing four-bar linkage transmission angle deviation through MATLAB algorithms
Material & Manufacturing: Balancing cost constraints with performance requirements through FEA and prototyping
Control System Integration: Synchronizing mechanical and electronic systems for reliable button pressing

Results & Achievements

Project Outcomes

Class Performance: Achieved one of the smallest volumes in the class while maintaining high functionality
Scoring System: Successfully implemented system that earns +1 point for correct button pairs, -1 for wrong pairs, and +3 for bonus button
Optimization Success: Effectively minimized transmission angle deviation and system volume through MATLAB optimization
Prototyping Validation: Used additive manufacturing to catch design issues early, saving time and resources
Innovative Design: Successfully implemented folding mechanism concept based on gate latch for bonus button access