Danniel | Xingyu Hu

Pick-and-Place

🤖 6DOF Pick-and-Place Mechanism with Satellite Gear Design

Role: Mechanical Designer
Timeline: 2023
Course Context: University of Waterloo – ME380 Mechanical Design Project

Overview

This project focused on designing a six degrees of freedom (6DOF) pick-and-place mechanism, incorporating a compact satellite gear system to enable both precise gripping and controlled wrist rotation. Developed as part of a senior mechanical design course, the goal was to create a mechanically efficient, manufacturable, and compact system for robotic manipulation tasks.

Design Objectives

  • Deliver a 6DOF mechanism capable of precise object pick-and-place within a defined workspace
  • Integrate gear-driven wrist and gripper motion using a satellite gear configuration
  • Ensure fabrication using accessible tools such as 3D printing and laser cutting

Key Features

🔹 DOF Integration

  • Combined translational and rotational motion through stacked joints and linear rails
  • Wrist and grip actuation synchronized via shared mechanical input

🔹 Satellite Gear System

  • Designed a compact planetary gear set embedded in the gripper
  • Allowed simultaneous control of grip and rotation with a single motor/actuator
  • Reduced wiring complexity and increased mechanical reliability

🔹 Mechanical Design

  • Modeled and tested entirely in SolidWorks
  • Linkages, torque transfer, and motion arcs simulated using kinematic studies
  • Parts optimized for PLA 3D printing and laser-cut support structures

Skills Applied

  • Mechanical design and CAD modeling (SolidWorks)
  • Gear train design and torque analysis
  • Motion simulation and workspace optimization
  • Design for manufacturing (3D printing, laser cutting)
  • Iterative prototyping and functional testing

Deliverables

  • Full CAD model with exploded views and animations
  • Fabrication-ready engineering drawings and BOM
  • Concept demonstration video clips and simulation output

Learning Impact

This project deepened my understanding of motion coupling and gear-driven actuation, reinforcing the importance of mechanical simplicity in multi-DOF systems. It sharpened my skills in kinematic design and built my confidence in designing fully functional robotic subassemblies under real-world constraints.