We have used four bar mechanism to implement forward and backward motion and upward and downward motion using only two actuators.

Stepper and Servo motors, X-Channels, Acrylic Sheet, Nuts-Bolts, Arduino Mega ADK, PS3 controller

1. Design Finalization : Used four bar mechanism to actuate the shoulders efficiently
2. CAD Model : Designed the CAD model in Autodesk Inventor and Fusion 360
3. Simulation : Created an animation of the robot to test the design
4. Manufacturing (Mechanically) : Laser cut and 3D printed the parts
5. Electrical circuiting : Used stepper motor to rotate the turntable and servo motor to actuate the legs and gripper of the arm
6. PS3 control : Controlled the robotic arm with a PS3 controller via an USB cable
7. Mechanical Model : Good working condition
8. Testing : All three servo motors are working individually