A PROJECT REPORT

ON

MECHANICAL PICK AND PLACE MECHANISMS

Submitted in partial fulfilment of the requirement For the award of the degree

of

BACHELOR OFENGINEERING

IN

INDUSTRIALPRODUCTIONENGINEERING

SUBMITTEDBY
RAHUL SHARMA (2101100450023)

UNDERTHEGUIDANCE OF

MR.VIRENDRAKR. VERMA

(Assistant Professor)

DEPARTMENT OF
INDUSTRIALPRODUCTIONENGINEERING

INSTITUTEOFENGINEERING&RURALTECHNOLOGY,PRAYAGRAJ.
ENGINEERING DEGREE DIVISION
(2024-2025)
 UNDERTAKING

We hereby declare that the work presented in this report entitled "Design
and Development of a MECHANICAL PICK AND PLACE
MECHANISM" submitted to the Department of Industrial and
Production Engineering, Institute of Engineering and Rural Technology,
Prayagraj (India), in partial fulfilment of the requirements for the award
of the Bachelor of Technology degree in Industrial and Production
Engineering is our original work.

We affirm that no part of this report has been plagiarized or submitted for
the award of any other degree or diploma at any institution. If any part of
this declaration is found to be incorrect, the degree may be withdrawn
unconditionally.

DATE: ANKIT SHUKLA(2101100450005)

AYUSHMAN SINGH(2101100450008)
NAMRATA SHUKLA (2101100450020)
PLACE:PRAYAGRAJ RAHUL SHARMA(2101100450023)
SUMAN JAISWAL (2201100459002)

i
 CERTIFICATE

This is to certify that the work presented in the Bachelor of Technology

Project Report entitled "Design and Development of a MECHANICAL
PICK AND PLACE MECHANISM". submitted as partial fulfilment of
the requirements for the award of the degree of Bachelor of Technologyin
Industrial and Production Engineering. is an authentic record of our
original work carried out under the supervision of Mr. Virendra Kumar
Verma , Department of Industrial and Production Engineering, at the
Institute of Engineering and Rural Technology. Prayagraj. Uttar Pradesh,
India-211002.

This is to certify that the above statement made by the candidates is

correct to the best of my knowledge.

Mr. Virendra Kumar Verma

Head of Department.
Department of Industrial and Production Engineering
LE.R. T. PRAYAGRAJ.(India)

ii
 ACKNOWLEDGEMENT

The satisfaction and euphoria that accompany the successful completion of any task
would be in complete without the mentioning of the people whose constant guidance
and encouragement made it possible . We take pleasure in presenting before you , our
project, “MECHANICAL PICK AND PLACE MECHANISM ”which is result of
studied blend of both research and knowledge.

We expressourearnestgratitudetoourinternalguide,Mr.Virendra KumarVerma,
DepartmentofIndustrialProductionEngineering,our project guide, for his constant
support, encouragement and guidance. We are grateful for his cooperation and his
valuable suggestions.

Finally,weexpressourgratitudetoallthermemberswhoareinvolvedeitherdirectlyor
indirectly for the completion of this project.

Ankit
Shukla
Ayushman Singh
Namrata
Shukla Rahul
Sharma
Suman
Jaiswal
iii
 ABSTRACT

In today’s factories and shop floors, industrial automation is everywhere and it is

difficult to imagine a production line without automation. Industrial automation
uses control systems and equipment, such as computer software and robots, to
perform tasks that were historically done manually. These systems operate
industrial equipment automatically, significantly reducing the level of operator
involvement and oversight required.

One machine/mechanism that is most visible in industrial automation is the

Mechanical pick and Place mechanism. Pick and place automation speeds up the
process of picking up parts or items and placing them in other locations.

iv
 Table of Contents

UNDERTAKING ......................................................................................................................................................... i
CERTIFICATE ........................................................................................................................................................... ii
ACKNOWLEDGEMENT ..........................................................................................................................................iii
ABSTRACT ............................................................................................................................................................... iv
LIST OF
FIGURES………………………………………………………………………………………………………………..vi
i
LIST OF
TABLES………………………………………………………………………………………………………………...vi
ii

CHAPTER:1INTRODUCTION................................................................................................................................... 1
1.1 BACKGROUND OF STUDY ............................................................................................................................ 1
1.2 PROBLEM STATEMENT ................................................................................................................................. 4
1.3 MOTIVATION OF STUDY .............................................................................................................................. 5
1.4 USES ................................................................................................................................................................. 6
CHAPTER:2LITERATUREREVIEW......................................................................................................................... 7
2.1 INTRODUCTION .............................................................................................................................................. 7
2.2 RELATEDWORK ............................................................................................................................................. 7
2.3 COMPARATIVESUMMARYTABLE ............................................................................................................... 9
2.4 RESEARCHGAP ............................................................................................................................................. 10
2.5 SUMMARY ..................................................................................................................................................... 11
CHAPTER:3PROBLEMSTATEMENT&METHODOLOGY.................................................................................... 12
3.1 PROBLEMDEFINITION ................................................................................................................................. 12
3.2 RESEARCHOBJECTIVES .............................................................................................................................. 12
3.3 METHODOLOGYOVERVIEW ...................................................................................................................... 14
3.4 TOOLSANDTECHNOLOGIESUSED............................................................................................................. 16
3.5 PROJECTDESIGNAPPROACH ...................................................................................................................... 18
CHAPTER:4 SYSTEMDESIGN/IMPLEMENTATION ............................................................................................ 21
4.1 SYSTEMARCHITECTURE ............................................................................................................................ 21
4.2 DATA FLOW DIAGRAM/BLOCK DIAGRAM ............................................................................................. 22
4.3 MODULEDISCRIPTION ................................................................................................................................ 22
v
 4.4 ALGORITHM USED ...................................................................................................................................... 25
4.5 CODEIMPLEMENTATIONOVERVIEW ....................................................................................................... 26
4.6 SUMMARY ..................................................................................................................................................... 27
CHAPTER:5RESULT&DISCUSSION ..................................................................................................................... 28
5.1 TESTCASESANDSCENARIOS ...................................................................................................................... 28
5.2 EXPERIMENTALSETUP ............................................................................................................................... 29
5.3 PERFORMANCEANALYSIS ......................................................................................................................... 29
CHAPTER:6 CONCLUSION AND FUTURE WORK .......................................................................................... 32
6.1 SUMMARYOFWORKDONE ......................................................................................................................... 32
6.2 MAJORFINDINGS.......................................................................................................................................... 32
6.3 LIMITATIONS ................................................................................................................................................ 32
6.4 FUTURESCOPE .............................................................................................................................................. 33
6.5 FINALREMARK: ............................................................................................................................................ 33
REFERENCES .......................................................................................................................................................... 35
APPENDIX 1………………………………………………………………………………………………………………………36

vi
 LIST OF FIGURES

FIG.3. 1 CUTTING ................................................................................................................................................... 14

FIG.3. 2BENDING.................................................................................................................................................... 15
FIG.3. 3ASSEMBLY................................................................................................................................................. 15

FIG.4 .1STRUCTURAL LAYOUT ........................................................................................................................... 21

FIG.4. 2 BLOCK DIAGRAM .................................................................................................................................... 22
FIG.4. 3. DC MOTOR ............................................................................................................................................... 23
FIG.4. 4SPROCKET ................................................................................................................................................. 24
FIG.4 .5ELECTROMAGNET ................................................................................................................................... 25

FIG.5. 1BAR GRAPH ............................................................................................................................................... 30

vii
 LIST OF TABLES
TABLE 2 .1TABULARFORMOFLITERATURE REVIEW ....................................................................................... 9

TABLE 4. 1MODULE ROLES OVERVIEW ............................................................................................................ 26

TABLE 5 .1TEST CASESSUMMARYTABLE ........................................................................................................ 28

TABLE 5. 2PERFORMANCE ANALYSIS .............................................................................................................. 29
TABLE 5. 3EXISTINGSYSTEMVSROBOTICARM ............................................................................................... 30

viii
 CHAPTER:1INTRODUCTION

1.1 BACKGROUNDOFSTUDY

The study of mechanical pick and place mechanisms has a rich and deep background,
stemming from the fundamental human need for efficient material handling and assembly.
Its evolution is closely tied to the broader history of automation, industrialization, and
ultimately, robotics.

Here's a deep dive into the background of this crucial field:

 Early Concepts and Precursors(Beforethe20thCentury)

While the term "pick and place mechanism" as we understand it today is a modern concept,
the underlying idea of automating repetitive material manipulation has roots in much earlier
times.

 Ancient Automata: Ancient civilizations, particularly in Greece and Alexandria,

developed intricate automata (self-operating machines) for entertainment, religious
rituals, or to demonstrate scientific principles. These often involved lever systems,
cams, and linkages to achieve specific movements, demonstrating an early
understanding of mechanical control for repetitive tasks. While not industrial, they
laid conceptual groundwork for controlled motion.

 Industrial Revolution and Specialization: The Industrial Revolution (18th-19th

centuries) saw a massive shift towards factory production and the division of labor.
This led to highly specialized manual tasks, many of which involved repetitive
picking up and placing of components. The sheer volume of production highlighted
the inefficiency and labor intensity of these tasks, planting the seeds for future
automation.

 Early Mechanical Devices: Simple mechanical aids were developed to assist workers
with heavy lifting or repetitive movements. These weren't "pick and place" in the
robotic sense, but rather cranes, hoists, and conveyer systems that moved materials.
The focus was on reducing physical strain and improving throughput.

 The Dawn of Industrial Automation(Early to Mid-20thCentury)

Therealimpetusformechanicalpickandplacemechanismsasweknowthemcamewiththe rise of
mass production and the increasing complexity of manufacturing processes.

 Need for Consistency and Speed: As industries like automotive and electronics
grew, the demand for consistent quality and higher production speeds becomes

1
 paramount.Manualassembly,whilepreciseforskilledworkers,waspronetoerrors, fatigue, and
slow throughput for high-volume operations.

 Component Miniaturization (Electronics): The burgeoning electronics industry,

particularly with the advent of printed circuit boards (PCBs) and surface mount
technology (SMT) in the 1960s, created an urgent need for automated placement.
Components became increasingly small and densely packed, making manual
placement exceedingly difficult, time-consuming, and prone to damage. This was a
critical driver for the development of dedicated pick and place machines.

 "Hard Automation" and Specialized Machines: Before the widespread adoption of

programmable robots, factories relied on "hard automation." This involved
designing highly specialized, fixed-function machines for specific tasks. For pick
and place, this meant custom-built mechanical arms, chutes, and feeders that could
onlyhandleonetypeofcomponentinaspecificorientation.Whileeffectiveforvery high-
volume, unchanging production, they lacked flexibility.

 The Birth of the Industrial Robot (1950s-1970s)

Thiseramarksthetruegenesisofmodern,flexiblepickandplacemechanisms
.
 George Devol and Joseph Engelberger - The Unimate (1950s-1961): This is the
seminal moment. George Devol filed patents for "programmed transfer articles" in
1954, leading to the creation of the Unimaterobotin1961 by Unimation, founded by
Devol and Joseph Engelberger (often called the "Father of Robotics"). The Unimate
was the first programmable industrial robot.

o Key Innovation: TheUnimatewasn't just afixed-motion machine;it was

programmable. This meant it could be taught a sequence of movements
and repeat them precisely. Early applications included transferring die
castings from assembly lines and welding, tasks that were hazardous for
human workers.

o Impact: The Unimate demonstrated the potential for robots to perform

repetitive, dangerous, and monotonous tasks, inspiring further
development in industrial automation.

 Evolution of Robot Architectures: Following the Unimate, various robot

configurations emerged, each suited to different pick and place applications:

o Cartesian Robots(Gantry Robots): Operating on three linear axes (X, Y,

Z), these are excellent for precise linear movements and large work
envelopes, common in electronics assembly and handling large panels.

o Cylindrical Robots: Offer vertical, radial, and rotational movement,

suitable for reaching into machines or across an area.

2
 o Spherical Robots: Provide radial, pitch, and yaw movements, mimicking
the human arm's reach, good for machine tending and spot welding.

o Articulated Robots: Resemble human arms with multiple rotary joints

(like the Unimate),offering high flexibility and reach for complex tasks.

o SCARA Robots (Selective Compliance Articulated Robot Arm, 1978):

Developed in Japan, SCARA robots excel at high-speed, high-precision
assembly tasks within a defined planar workspace, making them ideal
for small parts assembly, particularly in electronics.

o Delta Robots (Parallel Robots): Known for their incredibly high speed
and precision, Delta robots use a parallel kinematic structure, making
them perfect for fast pick and place operations in food packaging and
pharmaceutical industries.

 ModernAdvancementsandtheFuture(Late20thCentury-Present)

Thecontinuousdevelopmentofcomputingpower,sensortechnology,andartificial intelligence
has revolutionized pick and place mechanisms.

 Vision Systems: The integration of cameras and advanced image processing(starting

in the late 1970s/early 1980s) allowed robots to "see" and identify objects, their
orientation, and their precise location. This was a game-changer, enabling robots to
handle unorganized parts (bin picking) and adapt to variations.

 Improved End-Effectors (Grippers): The "hand" of the robot evolved from simple
suction cups and two-finger grippers to highly sophisticated, adaptive grippers:

o Vacuum Grippers: Common for flat, smooth objects.

o Mechanical Grippers: Jaws that grasp objects.
o Magnetic Grippers: For ferrous materials.
o Soft Robotics and Compliant Grippers: Allowing the handling of
delicate, irregularly shaped, or deformable objects.
o Multi-functional Grippers: Combining different gripping methods or
allowing for quick tool changes.

 Sensing and Feedback: Beyond vision, force sensors, tactile sensors, and proximity
sensorsproviderobotswitharicherunderstandingoftheirenvironment,enabling

3
 more delicate handling, collision avoidance, and verification of successful picks and
placements.

 Advanced Control Systems: Microprocessors, sophisticated algorithms, and real-

time control systems allow for faster, smoother, and more precise movements, as
well as complex path planning and error recovery.

 Collaborative Robots (Cobots): A more recent development, cobots are designed to

work safely alongside humans without traditional safety cages. This opens up new
possibilities for flexible automation in smaller batches and human-robot
collaboration in assembly tasks.

 ArtificialIntelligence(AI)andMachineLearning(ML):AIisincreasinglybeing
integrated into pick and place robots for:
o Adaptive Learning: Robots can learn to handle new objects or adapt to
changing conditions without explicit reprogramming.
o Predictive Maintenance: Analyzes sensor data to predict potential failures,
reducing downtime.
o Optimal Path Planning :AI can determine the most efficient picking and
placing sequence.

 Miniaturization and Precision: Pick and place mechanisms continue to shrink in size
while increasing in precision, enabling the assembly of micro-components in
industries like medical devices and consumer electronics.

.
In conclusion, the background of studying mechanical pick and place mechanisms is a
journey from ancient mechanical curiosities to sophisticated, intelligent robotic systems. It's
a field driven by the continuous pursuit of efficiency, precision, and safety in manufacturing
and material handling, and its evolution continues to shape the industrial landscape.

1.2 PROBLEMSTATEMENT
A mechanical pick and place mechanism project typically addresses the inefficiencies,
inaccuracies,andsafetyconcernsinherentincurrentmaterialhandlingandcomponentplacementproces
ses.
Here'sabreakdownoftheproblemstatement,consideringcommonscenarios:

The current method of [manual or existing automated] material handling and component
placement within [specific industry or process, e.g., electronics assembly, pharmaceutical
packaging, heavy manufacturing] is fraught with significant challenges. These challenges
include:

4
  Low Throughput and Speed: The reliance on [manual labor or outdated machinery]
leads to a bottleneck in production, unable to meet increasing demand for higher
volumes and faster turnaround times.

 High Error Rates and Inconsistency: [Human variability or machine imprecision]

results in frequent misplacements, component damage, and product defects. This
directly contributes to [high rework costs, increased scrap rates, and diminished
product quality].

 Significant Labor Costs and Ergonomic Issues: Manual operations for repetitive pick
and place tasks are labor-intensive, leading to high operational expenses.
Furthermore, these repetitive motions often cause [worker fatigue, musculoskeletal
injuries, and reduced productivity due to downtime], posing significant health and
safety concerns.

 Limited Adaptability and Flexibility: Current systems often lack the ability to
quickly adjust to changes in [product designs, component sizes, or varying
productionbatches].Thisinflexibilityleadstoextensivedowntimeforre-tooling and
reprogramming, hindering efficient production of diverse product lines.

 Inability to Handle Complex or Delicate Components: The specific requirements of

[e.g., micro-components, fragile parts, irregularly shaped items] cannot be
consistently met by existing methods, leading to damage or requiring costly,
specialized manual intervention.

This problem statement highlights the critical need for a more efficient, precise, and
automatedmechanicalpickandplacesolutiontoovercomecurrentoperationalhurdlesand1

1.3 MOTIVATIONOFSTUDY
The motivations for studying and developing mechanical pick and place mechanisms are
deeply rooted in the pursuit of efficiency, economy, quality, and safety across various
industries. They address the fundamental limitations of manual labor and less advanced
automation.

 Boost Productivity: Achieve higherthroughput,fasterspeeds,and24/7operation.

 Improve Accuracy: Eliminate human error, ensure consistency, and reduce

rework/scrap.

 ReduceCosts:Lowerlaborexpenses,optimizeresourceutilization,anddecreaseper- unit
production cost.

5
  Enhance Safety: Remove humans from hazardous environments and eliminate
repetitive strain injuries.

 Increase Flexibility: Enable quick adaptation to new products and processes through
programmability.

 Enable New Technologies: Facilitate complex assembly like SMT and micro-
assembly.

 GainCompetitiveEdge:Achievesuperiorefficiency,quality,andresponsiveness.

1.4 USES

Uses of Mechanical Pick and Place Mechanisms:

 Electronics Manufacturing: SMT assembly, component insertion,handling delicate

micro-components.

 Food and Beverage: High-speed packaging, sorting, kitting, and sanitaryhandling of

food items.

 Pharmaceutical&MedicalDevices:Drugpackaging,sterilemedicaldevice assembly, lab

automation.

 AutomotiveIndustry:Componentassembly,engine/powertrainassembly,machinetendi
ng.

 Logistics & Warehousing: Order fulfillment (picking), sorting,

palletizing/de palletizing.

 Consumer Goods: Packaging cosmetics, assembling toys, and various household

appliances..

 General Manufacturing: Bin picking, material handling, machine loading/unloading,

and quality control

6
 CHAPTER:2LITERATUREREVIEW

2.1 INTRODUCTION

Since many years’ replacement of human work with mechanization and automation are in
practice. It is observed and been proved that the automated devices are faster and more effective
than human work. Automated electro-mechanical device or contrivance that can be used for self-
governing tasks. Currently many devices are utilized for tasks that are so tough or hazardous for
the humans for apply undeviatingly such as picking and allocating the objects withal, it can be
utilized to automate the perpetual tasks that can give alongside extra precision. Raj gure S.D et
al[2018] has reviewed the modeling of pneumatic robotic arm for automation in two machines,
for material handling purpose. There view was between the two machines namely extrusion and
belt grinding machine. It was commanded to design the pneumatic arm to pick and place the
cylindrical object like steel bars. It has presented forward and inverse kinematics of robot arm
and reveals that a robotic arm can be manufactured by using cellular titanium and nano
crystalline aluminum in order to ensure less weight. In some of the work PLC program are used
to control the arm robot, but it needs more costs, skill and knowledge to make it and connecting
to the arm robot.

2.2 RELATEDWORK
[1] Robotic arm for pick and place application , Kaustubh Ghadge, Saurabh More, Pravin
Gaikwad, Shrenik Chillal , International Journal of Mechanical Engineering and Technology 9
(1), 125-133, 2018. This project is to design and develop a" Robotic Arm for Pick and Place
Application" using Node MCU controller. This project
combinestheknowledgeofelectronicandelectrical.Theobjectiveofthisprojectistodesignandbuildam
orecompact,usableandcheaper pick and place robotic arm for educational purpose uses
NodeMCU from Microchip Technology as the control system to control all the activities. Input
devices such as Android application will send a signal to NodeMCU; then NodeMCU will make
a response accordingly. The response normally involves turning ON or OFF an output signal to
some devices such as servo motors.

[2] Design and implementation of pick and place robotic arm , Ravikumar Mourya, Amit
Shelke, Sourabh Satpute, Sushant Kakade, Manoj Botre , Int. J. Recent Res. Civ. Mech. Eng 2
(1), 232-240, 2015. Robot manipulator is an essential motion subsystem component of robotic
system for positioning, orientating object so that robot can perform useful task. The main
objectives ofthis project are to design and implement a 4-DOF pick and place robotic arm. This
project can be self-operational in controlling, stating with simple tasks such as gripping, lifting,
placing and releasing. In this project, the focus is on 4-DOF articulated arm. Articulated arm
consists of revolute joints that allowed angular movement between adjacent joint. Four servo
motors were used in this project to perform four degree of freedom (4-DOF). There are, speed,

7
 numerous dimensions over which robotic arms can be evaluated, such as torque, payload
range, repeatability and cost, to name a few. Robot manipulators are designed to executerequired
movements. Their controller designis equally important. The robotarmis controlled by a serial servo
controller circuit board. The controller used for servo motor actuation is ATmega 16 Development board.

[3] Design analysis of a remote controlled pick and place robotic vehicle , BO Omijeh, R
Uhunmwangho, M Ehikhamenle , International Journal of Engineering Research and
Development 10 (5), 57-68, 2014. The design analysis of a Remote Controlled “Pick and Place”
Robotic vehicle has been presented in this paper. This work unravels the fact that man would
always want to adhered to safety precautions at workplace and even in its environment, to beable
to handle some specific tasks, like sending the robotic vehicle to hazardous environment to
obtain samples for chemical analysis. A typical Robotic Vehicle is capable of traveling over
various terrains and traversing obstacles. Inone embodiment, the design in this work, includes a
Robotic arm of five Degree of Freedom with its base resting directly on top of the vehicle, abody
having four drive wheels coupled to the ends thereof. The wheels are selectively poweredto
propel the vehicle. The design methodology involves the hardware, software part and
implementationofbothdesigns. Aprototypeofthe Remote Controlled “Pick and Place” Robotic
vehicle was built to validate design specifications. The results obtained were very satisfactory.
The use of Robots is highly recommended for Industries especially for safety and productivity
reasons.

[4] Position control method for pick and place robot arm for object sorting system , Khin Moe
Myint, Zaw Min Min Htun, Hla Myo Tun , International journal of scientific & technology
research5 (6), 57-61, 2016. The more increase the number of industries indeveloping countries,
the more requirelabourers or workers in that. To reduce the cost of labour force and to increase
the manufacturing capacity of industries, the advanced robot arms are more needed. The aim of
this journal is to eliminatethe manual control for object sorting system. Robot armdesign in this
research uses two joints, three links and servo motors to drive. Microcontroller is used
togeneraterequiredPWMsignal for servo motors.Inthisresearchthepositioncontrolofrobot arm was
designed by using kinematic control methods. There are two types of kinematic control methods
which are forward and reverse kinematic methods. In forward kinematic method, the input
parameters are the joint angles and link length of robot arm and then the output is the position at
X, Y, Z coordinate of tool or gripper. In inverse kinematic, the input parameters are position at
X, Y, Z coordinate of gripper and the link length of robot arm and then the output parameters are
the joint angles. So, kinematic methods can explain the analytical description of the geometry
motion of the manipulator with reference to a robot coordinate system fixed to a frame, without
consideration of the forces or the moments causing the movements. For sorting system,
Metaldetector is used to detect the metalor non-metal. This position controlofpick and
placerobotarmisfullytestedandtheresult is obtained moreprecisely. Roboticarmforpickand place
application
8
 [5] Robotic Arm for Pick and Place Mechanism , Kaustubh Ghadge, Saurabh More, Pravin
Gaikwad, Shrenik Chillal , International Journal of Mechanical Engineering and Technology 9
(1), 125-133, 2018. This project is to design and develop a" Robotic Arm for Pick and Place
Application" usingNodeMCU controller. This project
combinestheknowledgeofelectronicandelectrical.Theobjectiveofthisprojectistodesignandbuildam
orecompact,usableandcheaper pick and place robotic arm for educational purpose uses
NodeMCU from Microchip Technology as the control system to control all the activities. Input
devices such as Android application will send a signal to NodeMCU; then NodeMCU will make
a response accordingly. The response normally involves turning ON or OFF an output signal to
some devices such as servo motors.

2.3 COMPARATIVESUMMARYTABLE

TABLE 2 .1TABULARFORMOFLITERATURE REVIEW

No. Study Year Application Limitation FutureResearch

1 Design and 2015 Automation of Limitedto4-DOF, Add more DOF,
Development gripping,lifting, lacks sensor integrate sensors,
of Pick and placing objects integration, and implement
PlaceRobotic advanced control advanced control
Arm algorithm. algorithms,enable
wireless control.
2 Design 2014 Remote handling of Limitedautonomy, Enhanceautonomy
Analysis of a objectsinhazardouse with AI, improve
Remote nvironments basic control controlalgorithms,
Controlled increase payload
PickandPlace system, and capacity, apply to
Robotic real- world
Vehicle payloadcapacity. scenarios
3 Designand 2021 Industrial Basiccontrolsystem, Increase DOF,
Developm- automation, limited intelligence, integratesensors,
ent of Pick research,education and workspace. improve control
and Place algorithms, and
Robotic enable wireless
Arm control.

9
4 Position 2016 Objectsorting Limited to 2-DOF, Increase DOF,
Control automation lacks object integrate object
Method for recognitionandreal- recognition,
PickandPlace time control. implementreal-
RobotArmfor time control,
ObjectSorting develop path
System planning.
5 Robotic Arm 2018 Materialhandling, Limitedprecisionand Improve control
for Pick and assembly, flexibility with 4- algorithms,
PlaceApplicati packaging DOF. increase DOF,
on. integratesensors,
and explore
advanced
applications in
automation,
healthcare, and
education.

2.4 RESEARCHGAP

 DexterityandVersatilityinGripping:

 Needforadaptivegripperstohandlediverse,delicate,deformable,or irregularly
shaped objects.

 Researchinsoftrobotics,multi-modal,andunderactuatedgrippingfor enhanced
versatility.

 Improved grasping inclutteredenvironmentsthroughadvanced3D visionand

prehensile/non-prehensile manipulation strategies.

 IntelligenceandAdaptability:

 Developingself-learningsystems(e.g.,deepreinforcementlearning)for
autonomous task adaptation without extensive programming.

10
  Real-timefailuredetectionandintelligentrecoverystrategiesusingrobust sensing
and feedback. 

 Enablingseamlessandsafehuman-robotcollaborationthroughintuitive
programming and shared workspace safety.

 Improvingsim-to-realtransferforfasterdevelopmentanddeploymentof intelligent
solutions.

 Speed,Precision,andThroughputinComplexScenarios:
 Achievinghighspeedandprecisionsimultaneouslyfordelicateorcomplexobjects.

 Effectiveoperationindynamicenvironments(e.g.,movingconveyors, varying
lighting).

 Advancementsinminiaturizationandmicro-assemblyforextremelysmall
components with high precision.

 Cost-EffectivenessandAccessibility:
 Reducingoverall system coststhroughmodular,reconfigurabledesignsand
lower-cost hardware.

 Developing standardized protocols and interfaces to improveinteroperability

and ease of integration for broader adoption.

2.5 SUMMARY

This section review shows a progression from basic mechanical automation to highly
sophisticated, intelligent, and adaptable robotic systems, with a strong current emphasis on
enhancing gripper versatility, integrating AI for autonomous decision-making, and
facilitating effective human-robot collaboration.

11
 CHAPTER:3PROBLEMSTATEMENT&METHODOLOGY

3.1 PROBLEMDEFINITION

In modern industrial and automation systems, repetitive tasks such as picking and placing

objects are usually performed manually, which results in reduced efficiency, increased

fatigue, and a higher chance of human error. This manual operation is not only time-

consuming but also limits productivity in assembly lines and material handling processes.

There is a growing need for a simple, cost-effective, and reliable mechanical systemthat can

automate the process of picking and placing objects without human intervention. Such a

system should be easy to control, require minimal maintenance, and be suitable for small-

scale as well as large-scale operations.

This project aims to design and develop a mechanical pick and place mechanism that can

perform object handling tasks with improved speed, accuracy, and efficiency, thereby

reducing the dependency on manual labor and enhancing productivity.

In many manufacturing and packaging industries, manual handling of components is a

repetitive process that consumes time and labor, and increases the chances of operational

fatigue and errors. To enhance efficiency, reduce cost, and ensure precision, a mechanical

pick and place mechanism is required. The goal is to develop a simple, low-cost,

andeffectivesystemcapableofhandling objects from one place to another with minimum

human involvement.

3.2 RESEARCHOBJECTIVES
 Todesignanddevelopasimpleandcost-effectivemechanicalpickandplace mechanism

suitable for basic automation tasks.

 To reducemanuallaborandincrease efficiency in repetitive operationssuch as object

handling, sorting, and assembly.

 Toensureprecisemovementandpositioningofthepickandplacearmusing mechanical

components such as motors, gears, and linkages.

 Tocreateareliablesystemthatcanoperateconsistentlywithminimalhuman

supervision.

 To studyand analyze theworkingofthemechanismunder various load and speed

conditions for optimal performance.

 Toprovideaflexiblesolutionthatcanbeadaptedtodifferentindustrialor workshop

settings.

 To study different types of gripper mechanisms and implement a suitable one for

efficient object holding.

 To design a systemthat is safe, user-friendly, and easyto control for semi-skilled

operators.

 To minimize the energy consumption of the mechanism by selecting appropriate

components.

 Tosimulatethemotionandworkingofthepickandplacemechanismusingbasic CAD

models (if applicable).

 Totestthedevelopedmechanismfordurability,speed,andrepeatabilityunder

different working conditions.

 Toexplorepossibleimprovements or future upgrades such asautomation using

sensors or microcontrollers.
  To integrate motion controlusing switches or basic electronics for better usability

(if applicable).

 Todevelopamechanismthatcanbeeasilyscaledupormodifiedformorecomplex

automation tasks.

3.3 METHODOLOGYOVERVIEW

Fabrication is an important industry that involves cutting, manipulating and assembling

materials to produce desired structures. And while different fabrication companies use

differenttechniques, most relyonthreebasicprocesses:cutting,bendingandassembling.

1) Cutting

FIG.3 1 CUTTING

The first process of fabrication is cutting. During this process, the metal fabrication company

cuts one or more pieces of raw metal for use in the creation of a new metal structure or

product. Whether it’s steel, aluminum, iron or any other common type of metal, though,

cutting metal requires special tools. Some metal fabrication companies use torches to cut

metal, whereas others numerical control (CNC) machines involving lasers or water jets.When

finished, the company will have clean, appropriate-sized sheets or sections of metal with

which to work.
 2) Bending

FIG.3 2BENDING

After cutting raw metal, metal fabrication companies must bend it. Again, there are different

ways to bend metal after cutting it. Some metal fabrication companies hammer the metal

sheets or sections into the desired shape. Hammering can be done by hand, or it can be done

using a machine (power hammering). Recently, though, many metal fabrication companies

have begun using press brakes to bend their metal. This heavy industrial machine

automatically presses metal sheets and sections into a specific shape when engaged. It

essentially clamps the metal between a punch die, forcing the metal into the desired shape.

3) Assembling

FIG.3 3ASSEMBLY
The third and final process of metal fabrication is assembling. As the name suggests, this

process involves assembling the metal sheet or sections into the desired finished product.

Assembling is typically performed via welding, though other steps may be included in the

process as well. In addition to welding, for example, metal fabrication companies maycrimp

seams, apply screws or other fasteners, and apply glue. After assembling the metal, the

company will finalize the product before shipping and selling it to its customers.

Metal fabrication is a driving force behind the country’s ever-growing manufacturing sector.

Although there are countless machines and techniques used by metal fabrication companies,

must rely on a three-step process that consists of cutting, bending and assembling. Thesethree

processes allow metal fabrication companies to transformraw metal materials into new

products.

3.4 TOOLSANDTECHNOLOGIESUSED

 Components:-
● DCMotor(Squareboximported10RPM)

● Sprocket(20and35no.oftooth)

● Chain

● Spring(20mm)

● Electromagnet

● ConnectingRods(12mmround bar)

● SlideRod(20mmroundpipe)

● Supporting Frame(40*40mmsq.tube)

● Nuts &Bolts

● MountsandJoints
● BaseFrame

● ScrewsandConnectors

● AluminiumBlock (40*40*60mm)

● MSPin

● MSSpacer/ Washer

● Mdfwoodenply

● MetalPlates(MildSteel)

● 12mmstud

● Circuit

 TechnologiesUsed:

 Mechanical Linkage System – For transferring motion from motor to arm and claw

using levers, rods, or gears.

 DCMotor /ServoMotor–Usedforactuatingthearmandgrippermechanism to perform

pick and place actions.

 Gripper Mechanism / Claw – For holding and releasing the object securely during

movement.

 Gear and Pulley Arrangement – To provide torque transmission and control speed

(if used).

 Switch Control / Remote Operation– Formanually controlling themovementof the

mechanism.

 Chassis or Base Structure – A stable platform builtusing wood, metal, acrylic,

orplastic to support the entire system.

 PowerSupply Unit /Battery–To providepowertothemotorandelectronics.

 BasicElectronicsComponents–Suchaswires,switches, soldering,and connectors.

  CADSoftware(Optional) –Fordesigningandsimulatingthemechanicalparts(like

SolidWorks, AutoCAD, etc.).

3.5 PROJECTDESIGNAPPROACH

The design and development of the mechanical pick and place mechanism was carried out

through a systematic and step-by-step engineering approach. The objective was to create a

low-cost, reliable, and efficient mechanism that can perform repetitive tasks with precision

and minimal human intervention. The following stages were followed during the project:

 ProblemIdentificationandNeedAnalysis

The first step involved identifying the need for automation in repetitive tasks suchas picking

and placing objects in industries, especially small-scale units. Manual handling was found to

betime-consuming, tiring, and lessefficient. Thus, it wasnecessarytodevelopasolutionthat can

automate such tasks with minimal cost and complexity.

 Researchand Conceptualization

A detailed study was conducted on different types of pick and place systems used in

industries. Various mechanisms like robotic arms, pneumatic systems, servo-based grippers,

and link mechanisms were explored. After comparing cost, complexity, and feasibility, a

simple mechanical arm with a motor-driven gripper system was selected.

 DesignPlanningandComponentSelection

After finalizing the concept, appropriate components were selected based on requirements

suchasrangeofmotion,load-carryingcapacity,speed,andaccuracy. The key components

included:
  DC motorsformotion

 Agrippermechanismforholdingtheobject

 Astablebasetosupportthearm

 Linksandleversformechanicalmovement

 Switchesandwiringformanualcontrol

 MechanicalDesignandDrafting

Mechanical parts such as the arm, base, and gripper were drafted either manually or using

basic CAD software (if used). The design focused on maintaining balance, minimizing

friction, and ensuring smooth motion. Proper dimensions and alignment were considered

during this phase to ensure functional performance after assembly.

 Fabrication andAssembly

All components were fabricated using materials like metalrods, wood, or acrylic sheets. The

arm and gripper were mounted on the base and connected with motors. Proper joints and

fasteners were used to ensure structural stability. The electrical connections were also made

using switches and a suitable power source.

 Testing and Troubleshooting

Once assembled, the entire systemwas tested for performance. The arm movement, gripping

force, speed, and accuracy were observed. Any mechanical misalignment or electrical fault

was identified and corrected. The system was calibrated to ensure smooth and repeatable

operation.

 Optimization andFinalImplementation
Minor improvements were made to enhance the efficiency and reduce friction or wobbling.

The final system successfully demonstrated the ability to pick up and place objects from one

locationto another withreasonable speed, accuracy, and reliability. The mechanismachieved

the objective of reducing human effort in repetitive operations.

 CHAPTER:4SYSTEMDESIGN/IMPLEMENTATION

4.1 SYSTEMARCHITECTURE
The system architecture consists of a combination of mechanical components powered by a
12V DC motor, interconnectedthrougha chain and sprocket mechanism. The flow ofmotion is
managed througha reciprocating plate, anoscillating spring arm, and an electromagnet for
gripping the object.

CoreComponents:

 Motor:Drivestheentiresystem.SprocketandChain:Transmitrotarymotioninto linear
motion.
 ReciprocatingPlate:Convertsrotaryinputintotranslational motion.
 Spring-loadedArm:Oscillatesandbuffersthemotion.
 Electromagnet:Handlesobjectpick-upandrelease.
 LimitSwitches:Controlthemagnetanddefinemotionboundaries.

This simple yet modular architecture eliminates the need for complex controllers, making it
ideal for low-cost automation applications.

 STRUCTURALARCHITECTURELAYOUT:

BASE FRAME VERTICALSUPPORTFRAME DCMOTORMOUNT

SPROCKET&CHAIN
RECIPROCATINGPLATFORM OSCILLATINGLINKAGE
ASSEMBLY

END
PICKAND PLACEARM CONTROLPANEL(SWITCHES)
EFFECTOR(ELECTROMAGNET)

FIG.4 1STRUCTURAL LAYOUT

 4.2 DATA FLOW DIAGRAM/BLOCK DIAGRAM
Ablockdiagramhelpsvisualizethemechanicalandcontrolflowofthesystem.

 BlockDiagram Description:

POWERSUPPLY

DCMOTOR

CHAIN&SPROCKET
SYSTEM

RECIPROCATINGPLATE

OSCILLATINGSPRINGARM

LIMITSWITCHES

ELECTROMAGNET(ON/OFF)

OBJECT-PICKED-MOVED-
PLACED

FIG.4 2 BLOCK DIAGRAM

Logic Control Flow:

→ Start Motor

→PlateBeginsReciprocating

→AtPickPoint→Switch1→MagnetON

→AtPlacePoint→Switch2→MagnetOFF

→ Reset

Thislogicenablesasemi-automaticpickandplaceactionwithoutdigitalprogramming.

4.3 MODULEDISCRIPTION
Eachmajormoduleofthesystemcontributesadistinctmechanicalorfunctionaltask:
a) DCMotor(12V,10RPM)

FIG.4 3. DC MOTOR

DC gear motor is an all-in-one combination of a motor and gearbox. The addition of a gear
head to a motor reduces the speed while increasing the torque output. Here you can get
Orange Square Gearbox Motor with Operating Voltage of 12 V and varying RPM. This is
Lightweight and compact-sized motor with high performance.

The applications of this dc gear motor are Central air conditioning valve, Amusement
equipment, Coinrefund devices, Grill, Oven;Peristaltic pump, ATM bank automatic system,
Medical equipment, Office equipment, Household appliance, Automatic actuator and many
more.

 Features:
HeavyDutyMetalGears. Uniformity
of parts.
Capability to absorb shock and vibration as a result of elastic compliance.
Abilitytooperatewithminimumornolubrication,dueto inherent lubricity.
Relatively low coefficient of friction.
Corrosion-resistance;eliminationofplating, orprotectivecoatings.

 Specifications:
OperatingVoltage 12VDC
NoLoadCurrent ≤220mA
NoloadSpeed 10RPM (at12V)
FullLoad Current (mA) ≤1300
RatedCurrent ≤4800mA
RatedTorque (Kg-cm) 90
ShaftLength(mm) 27
ShaftDiameter (mm) 8
Length(mm) 92
DimensionOverall 70X70(Sq.)X90(Length)
  Application:
Roboticpurposes.
Centralair–conditioningvalve Coin
refund devices
Industrialapplications.

b) SprocketsandChain

FIG.4 4SPROCKET

Asprocket or chainwheel is a profiled wheelwith teeth that mesh with a chain, track orother
perforated or indented material. The name 'sprocket' applies generally to any wheel upon
whichradialprojections engage a chain passing over it. It is distinguished froma gear inthat
sprockets are never meshed togetherdirectly, and differs froma pulley in that sprockets have
teeth and pulleys are smooth except for timing pulleys used with toothed belts.

Sprockets are used in bicycles, motorcycles, tracked vehicles, and other machinery either to
transmit rotary motion between two shafts where gears are unsuitable or to impart linear
motion to a track, tape etc. Perhaps the most common form of sprocket may be found in the
bicycle, in which the pedal shaft carries a large sprocket-wheel, which drives a chain, which,
in turn, drives a small sprocket on the axle of the rear wheel. Early automobiles were also
largely driven bysprocket and chain mechanism, a practice largely copied from bicycles.

The chain drives the secondary sprocket connected to the reciprocating plate.Translates
rotational input into linear motion.

c) ReciprocatingPlate
 Rectangularmetalplatemountedonguide rails.
 Moves backandforthasthechainrotates.
 Servesasthebaseforthespring-loadedarm.

d) Spring-LoadedArm
 Attachedtothereciprocatingplate.
  Incorporatesaspringmechanismthatabsorbsshockandprovidesoscillation.
 Ensuressmoothandcontrolledmovementofthepick-and-placetool.

e) Electromagnet

FIG.4 5ELECTROMAGNET

An electromagnet is a type of magnet in which the magnetic field is produced by an electric

current. Electromagnets usuallyconsistofwirewound into a coil. Acurrentthroughthe wire
createsa magnetic fieldwhichisconcentratedin the hole, denotingthecenterofthecoil. The
magnetic field disappears when the current is turned off. The wire turns are often wound
aroundamagneticcoremadefromaferromagneticorferrimagneticmaterialsuchasiron;the
magnetic core concentrates the magnetic flux and makes a more powerful magnet.

The main advantage of an electromagnet over a permanent magnet is that the magnetic field
can be quickly changed by controlling the amount of electric current in the winding.
However, unlike a permanent magnet that needs no power, an electromagnet requires a
continuous supply of current to maintain the magnetic field.

Electromagnets are widely used as components of other electrical devices, such as motors,
generators, electromechanical solenoids, relays, loudspeakers, hard disks, MRI machines,
scientific instruments,andmagneticseparationequipment.Electromagnetsarealso employed in
industry for picking up and moving heavy iron objects such as scrap iron and steel.

. f)LimitSwitches

Placedattheextremeendsof motion.

 LimitSwitch1:Activatesthemagnet(PickPoint).
 LimitSwitch2:Deactivatesthemagnet(PlacePoint).
f) Supporting Frame
 .Constructedusingmildsteelsquare tubes.
 Housesallmovingpartssecurely.
 Ensuresvibration-freeoperation.

 ModuleRolesOverview:
 TABLE 4.1MODULEROLESOVERVIEW

Module Function
DC Motor Driveschainsystem
Sprocket &Chain Convertsrotarymotiontoreciprocatingmotion
Plate Servesasthecarrierforspringarm
SpringArm Providesoscillationandshockabsorption
Electromagnet Picks/releasesmetalobject
LimitSwitches Trigger magnet ON/OFFlogic
Frame Supportsandhousesallcomponents

4.4 ALGORITHMSUSED(IfAny)
Thissystem operates on hardwarelogicratherthanprogrammablesoftware.However,the logic
sequence can be considered a mechanical algorithm:

MechanicalLogicFlow:

IFPlate =PickPoint:

THEN Magnet = ON

IFPlate=PlacePoint:

THEN Magnet=OFF

If this were to be upgraded, a basic microcontroller (e.g., Arduino) could execute thislogicusing
digital I/O pins for switch inputs and relay outputs.

4.5 CODEIMPLEMENTATIONOVERVIEW
Since the mechanismrunspurelyonmechanicalandelectromechanicalprinciples, no code is
currently used. However, for future enhancement:

SuggestedArduinoLogic (Conceptual):

if (digitalRead(limitSwitch1) == HIGH) {

digitalWrite(magnetRelay,HIGH);//PickObject

if (digitalRead(limitSwitch2) == HIGH) {

digitalWrite(magnetRelay,LOW);//ReleaseObject

}
This logic could allow more flexibility in motion control, including delay timing, sensor
feedback, and object verification.

4.6 SUMMARY
This chapter covers the structural, functional, and technical design of the proposed
mechanical system. The design process begins with conceptualization and ends with the
physical fabrication of a working prototype capable of automating object picking and
placement using basic mechanical and electromechanical components.

The system is designed for simplicity, efficiency, and affordability. Its non-programmed
architecture makes it ideal for rapid prototyping and educational use. Each component is
selected to maximize performance within a minimal cost and complexity framework.
 CHAPTER:5RESULT&DISCUSSION
5.1 TESTCASESANDSCENARIOS
Tovalidatethefunctionalityandefficiency of the developedsystem,severaltestscenarios were
conducted:

 Test Scenario1–LightLoadHandling:
 Object:Smallmetalcomponent(~150g)
 Observation:Smoothpickandplacemotionwithaccuratepositioning.
 Result:Successfuloperation;nomechanicalstressnoticed.

 Test Scenario 2– MediumLoadHandling:

 Object: Batterycell(~500g)
 Observation:Thesystemhandledtheload,althoughthespringshowedslight compression
lag.
 Result:Acceptableperformance;suitableforrepeatedoperations.

 TestScenario3 –ContinuousOperation (Fatigue Test):

 Duration:30-minute runwithrepeatedcycles.
 Observation:Nooverheatingorsystemfailure.Minorvibrationswerepresent.
 Result:Themechanismremainedstableandconsistentthroughout.

 TestScenario4–MisalignmentTolerance:
 Object:Irregularlyshapeditemplacedslightlyoff-center
 Observation:Pick-upwaspartiallysuccessful,provingtheneedforcentering.
 Result:Systemworksbestwithstandardshapedobjectsplacedproperly.

TABLE 5 .1TEST CASESSUMMARYTABLE

TestCase Object Result

LightLoad Handling 150gMetalComponent Accurate,smoothOperation

MediumLoadHandling 250g-500gBattery Slight lag in spring

compression

ContinuousOperation 30-minRepetition Consistent, minor

vibration
MisalignmentHandling Irregularobject Semi-successfulpickup

5.2 EXPERIMENTALSETUP

Theexperimentalsetupincludes:

 Frame:Constructedusing40x40mmmildsteelsquaretubes.
 Motor:12V DCgearmotorwith10 RPMand90Kg-cmratedtorque.
 DriveSystem: Chainandsprocketmechanismconnectedtoreciprocatingplate.
 Linkages: Mechanicallinksandrodstranslatemotionfromrotationtooscillation.
 Electromagnet:Activatedbylimitswitchestopickandrelease metallic items.
 Control:Manualoperationusingbasiccontrolswitchesandlimit-based actuation.

The setup ensured stability and smooth operation during repeated cycles. The mechanical
structure was placed on a lab table. A metalobject was placed at one end (pickup point), and
the release point was marked at the other end.

5.3PERFORMANCEANALYSIS

TABLE 5.2PERFORMANCE ANALYSIS

Parameter Observation
Load capacity Upto~700gsafely
Speed ~10cycles/min(limitedbymotorRPM)
Accuracy ~95%placementreliability
Repeatability High,ifobjectpositioningisprecise
PowerConsumption Low(12VDCsystem)
MechanicalNoise Moderatevibrationatjoints
 Key Insight:The system is consistentunderideal loading conditions and performs well
in a controlled environment.

10
9
8
7
6
5
4
3 Series1
2 Series2
1
0 Series3

FIG.5 1BarGraph

5.4COMPARISONWITHEXISTINGSYSTEM

TABLE 5.3EXISTINGSYSTEMVSROBOTICARM

Criteria ProposedSystem IndustrialRoboticArm

Cost Verylow Veryhigh
Complexity Simplemechanicaldesign High(Sensors,PLC,
Programming)
Customization Easy ModeratetoHigh
Maintenance Minimal Requiresskilledtechnician
ApplicationScope Small-scale &academic Industrialgrade
5.5 INTERPRETATION OF RESULT

The experimental results demonstrate that the fabricated mechanical pick-and-place mechanism
successfully fulfills its primary objective of picking an object from one location and placing it
at another. The chosen design parameters and material selections are generally appropriate for
the targeted load capacity and operational speed.

 The observed positioning inaccuracies and limitations in speed are primarily

attributable to the inherent characteristics of mechanical linkages (backlash, friction)
and the chosen actuation method. The use of a simple DC motor and electromagnet,
whilecost-effectiveandeasyto implement, doesnotoffertheprecisecontroland high
dynamic response of servo systems.

 The comparison with existing systems highlights the trade-offs involved in designinga
simple, cost-effective mechanical system versus a high-performance industrialrobot.
For applications requiring basic automation of repetitive pick-and-place tasks with
moderate precision and speed requirements, this type of mechanism presents a viable
and economical solution. Future improvements could focus on incorporating more
rigid materials, reducing backlash in joints, and exploring more sophisticatedyet still
affordable actuation and control methods (e.g., stepper motors with basic
microcontrollers) to enhance accuracy and speed without significantly increasing
complexity or cost. The successful operation within the tested parameters validatesthe
design methodology and fabrication processes employed in this project.
 CHAPTER:6 CONCLUSION AND FUTURE WORK

6.1 SUMMARYOFWORKDONE
This project successfully designed, fabricated, and tested a Mechanical Pick and Place
Mechanismintendedtoautomatebasicmaterialhandlingtasks.Thesystemoperatesthrough a
chain-sprocket-driven reciprocating mechanism with a spring-loaded arm and an
electromagnet for object manipulation.

 Keyaccomplishmentsinclude:
 Developmentofalow-cost,user-friendlyprototype.
 Implementationoflimitswitchesforbasicautomationwithoutmicrocontrollers.
 Testingundervariousconditionstoevaluateloadcapacity,speed,accuracy,andconsi
stency.
 Emphasisonlocalmaterials, manufacturability,andadaptabilityforsmall-scaleor
educational use.

Theworkingmodeldemonstratesthatmechanicalautomationsystemscanbedeveloped using
simple design principles and readily available components.

6.2 MAJORFINDINGS
Theprojecthasledtothefollowingsignificantconclusions:

 The mechanismeffectivelyautomatesthepickandplacetaskwithminimalenergy and

cost.
 Itshowshighrepeatabilityandaccuracyunderlow-to-moderate loads.
 Theuseofareciprocating-spring motionprovidesmechanicalflexibilityandreduceswear.
 Limit switcheseffectivelymanagethecontroloftheelectromagnetwithoutrequiring
advanced programming.
 Theentireassemblyismodular,allowingeasyscalingorintegrationwithother
systems like conveyor belts or sorting units.

These findingsconfirmtheviabilityoflow-techautomationforspecificapplications, particularly

where budget constraints or simplicity are prioritized.

6.3 LIMITATIONS
Whiletheprojectachieveditscoreobjectives,severallimitationswereobserved:
  LoadCapacity:Thesystemislimitedtolightormediumloadsduetothemotorand
structural design.
 NoIntelligentFeedback:Theuseofbasiclimitswitchesdoesn’tallowforadaptive
decision-making or error correction.
 No Multi-axisMovement:Unlikeroboticarms,thisdesignmovesonlyinasingle plane.
 LimitedEnvironmentalApplication:Cannothandlehigh-temperatureorcorrosive
environments without modification.
 ManualCalibrationNeeded:Requiresprecisemanualalignmentofobjectsatthe
pickup point.

6.4 FUTURESCOPE
Thereareseveralpotentialenhancementsthatcouldbeincorporatedintofutureversionsof this
system:

 SmartAutomation

Incorporatingmicrocontrollers(e.g.,ArduinoorRaspberryPi)andsensors(IR,ultrasonic, vision
systems) for adaptive control, object detection, and error handling.

 IncreasedPayload

Upgradingthemotorandstrengtheningthemechanicalstructuretosupportheavierandlarger objects,
extending its industrial applicability.

 Programmability

Developingaprogrammableinterfacewheretheusercandefinemultiplepickand place positions,

delays, and sequences.

 Multi-AxisMovement

Addingvertical(Z-axis)orrotationalmotion(yaw/pitch)toenhanceoperationalflexibility and
mimic robotic arm movement.

 IntegrationwithConveyors

Linkingthesystemwithconveyorbeltsforassemblylineautomationinsmallindustriesor educational
demonstrations.

 MobilePlatformMounting

Attachingthesystemtoamobileplatformforautonomousnavigationandobject handling in larger or

unstructured environments.

6.5 FINALREMARK:
The Mechanical Pick and Place Mechanism stands as a testament to the power of simple
engineering solutions in addressing real-world industrial challenges. With further
enhancements,thisprototypecanevolve into ascalabletoolforsmart manufacturing, low- cost
automation, and educational.
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APPENDIX:1IMAGES

Fig.FRONT VIEW

Fig.REARVIEW

Fig.SIDEVIEW