Machine Design Linkage

As a student in Columbia University's Machine Design class, I worked in a team to design, build, and control a complex linkage mechanism to press arcade buttons in sequence as quickly as possible. We were responsible for kinematic planning, creation of a detailed 3D model, manufacturing of linkage components, wiring, sensor usage, signal processing, transmission design, control system tuning, and actuation. We designed a unique (never used before in seven years of Machine Design classes), cable-driven actuation system to greatly reduce linkage inertia so the linkage moved much faster and required no transmission.