In this phase of the project, our group designed the payload that the later iterations of the Mechanized Arm would grab, lift, rotate, and then drop. With generalized design constraints regarding volume and size, we approached this phase by producing a payload that would be relatively simple to pick up by the other group's designs.

In this phase of the project, our group designed the grasping mechanism that would be used to pick up the payload that was designed in Phase 1. This phase once again had its own explicit design constraints as well as some group specific implicit constraints that needed to be followed. To complete this phase, we first started off with simplistic brainstorming designs before choosing our final design. After this point, we created a Graphical Linkage Synthesis (GLS) which would show us how the final linkage would behave in a 2D space. Once the GLS was complete, we moved onto the final assembly.

In this phase of the project, our group made a linkage system that served as a grasping arm. Before constructing the linkage system, a graphical linkage synthesis was created. However, to be sure that the grasping arm had the mechanical advantage to hold the claw and to lift the desired object; calculations such as finding the instant centers and degrees of freedom analysis were conducted. Once finalized and verified via MATLAB, the final assembly was constructed.

In this phase of the project, our group created the rotation mechanism using a pair of gears and a servo that would allow the lifting/grasping mechanism to rotate in order to transport the payload between two drop zones.