I helped design this elevator and end effector to grab chocolate pieces and place them inside containers within a conveyor belt packaging system.

The assembly consists of 2 mechanisms: a raising/lowering set of lead screws and a set of grippers. All of the moving components are driven by Dynamixel servos. I performed Finite Element Analysis on the structural components and fastener joints to verify that the assembly can withstand its own weight and the reaction force that the grippers will experience.

I also contributed to several pages of engineering calculations for the gears, lead screws, bearings, and fasteners to determine different types of stresses exerted on them. I used this information to obtain factors of safety, fatigue, and cycles until failure. These calculations were made in spreadsheets to make adjustments to different components easily and see the results quickly.