Robotics & Hardware · 2024 · prototype
Cylindrical Pick-and-Place Robot
3-DOF industrial coordinate robot arm operating in cylindrical space (R, Theta, Z).
01 / Overview
An automated 3-degree-of-freedom manipulator featuring a rotary base (theta), vertical linear lift column (Z), and horizontal telescoping extension arm (R) for cylindrical workspace parts transfer.
02 / Problem
Handling cylindrical bin-picking and radial part transfers can be mechanically simpler and more cost-effective with cylindrical coordinates than complex articulated spherical joints.
03 / Contribution
Designed linear guide slide mechanisms, lead-screw drive assemblies, and forward kinematic calculations for cylindrical coordinate transformations.
04 / System architecture
Physical + hardware
- Precision lead screw with anti-backlash nut for vertical Z-axis elevation
- Rack-and-pinion horizontal linear reach arm (R-axis)
- High-torque geared turntable base (Theta-axis)
- Microcontroller with stepper driver array
Firmware + software
- Cylindrical-to-Cartesian coordinate mapping firmware
- Speed ramp profiling to prevent vertical lead-screw resonance
Signal flowTriple stepper driver circuit with optical limit switches positioned at minimum and maximum travel endpoints of each cylindrical axis.
05 / Engineering decisions
- 01Employed a lead-screw mechanism for the Z-axis to ensure self-locking stability during power-loss conditions, preventing payload drop.
06 / Results + constraints
Observed results
- Smooth 360-degree rotation and 200mm vertical lift stroke with robust payload hold.
- Predictable cylindrical envelope coverage.
Current limitations
- Horizontal reach extension arm requires stiffening to reduce deflection under max 500g load.