Shell Shuffler

The aim of this project was to create a mutli-link robot arm capable of executing a planned trajectory. The Shell Shuffler takes inspiration from the shell game. The robotic arm acts as the dealer, swapping cups around as a player keeps track of the cup with a ball underneath.

The manipulator consists of four revolute joints and an end effector. The components were designed in SolidWorks and 3D printed. The motors used are the Dynamixel MX-28AR.

Programming arm motion required determining DH parameters and solving for the inverse kinematics. These equations were used in MATLAB to determine servo motor positioning.

The workspace mat was implemented for aesthetic and setup purposes, showing where the cups are to be placed at the start of each game.