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The goal of this project is the development of techniques that helps address the design of pick-and-place machines. Pick-and-place, common in assembly and manufacturing tasks, refers to the action of retrieving a part at one location and transporting (and reorienting) it to a second location. Pick-and-place tasks have rigid end-of-motion requirements needing exact positions and orientations. Between these end configurations, the motion restrictions are less rigorous. This challenge is addressed via GCP and the development of new design theory. Geometric Constraint Programming (GCP), adept in addressing kinematic synthesis challenges, is the set of tools available in any CAD package that allows for the specification of relationships between line segments, while allowing the lengths of those line segments to be variable. New design theory has identified the equations that effectively describe pick-and-place problems and resulted in new solution methodologies.

Publication Date


Project Designation

Graduate Research

Primary Advisor

Andrew P. Murray

Primary Advisor's Department

Mechanical and Aerospace Engineering


Stander Symposium poster

Four-bar Linkage Synthesis for A Combination of Motion and Path-point Generation