Cartesian Motion • Motor Control • Prototyping

Drink Mixer

Automated drink mixer designed to pour and blend drinks with a 4.5 degree-of-freedom layout.

SolidWorks Circuit Motor Control Ardurino Prototyping Degree-of-Freedom Laser Cutting

Project Overview

Automated drink-mixing prototype featuring a custom frame, slider, spinner, claw, and cup-holding mechanisms to position and dispense ingredients. The system provides 4.5 degrees of freedom with a claw end effector for controlled manipulation. Designed through CAD-based subsystem development, prototyping, and integration into a fully functional system.

What I Worked On

Designed the full assembly to allow 4.5 dof motion and sturctural support
Designed custom motor mounting, belt slider, and spinner components for 3D printing
Machined the structure and mechanisms for full prototype
Created proper circuit and Arduino code for button controlled steppr motor motion

Product And Prototype

This section shows the transition from prototype to a functional drink-mixing system, integrating mechanical motion and electronics.

Prototyping ensured all axes operated without interference and provided sufficient clearance for the cup. The final system demonstrates coordinated motion of the slider and end effector to position and dispense liquids into a complete working assembly.

Motion Design

4.5 Degree-of-Freedom Design

Cartesian Motion

The aluminum extrusion frame provides X, Y, and Z motion, driven by a belt and motor system for controlled positioning.

Bottle Holders

Bottle holders were designed with tilt and clearance to ensure consistent placement and reliable alignment. An O-ring improves grip during pouring.

Claw End Effector

The claw provides 1.5 degrees of freedom for gripping and controlled rotation, enabling accurate pouring and release of bottles.

Mechanical Design

Subsystem Highlights

Motor Mounts

Custom mounts connect motors to the frame while maintaining alignment and supporting load transfer.

Slider Mechanism

The slider moves along a belt-driven system, enabling controlled linear motion across the frame.

Spinner Components

The spinner supports the opposite side of the motor, stabilizing the belt-driven system during motion.

Electronic Design

Motor Circuit Highlights

Button Control

Button inputs trigger preprogrammed drink sequences for controlled selection and dispensing.

Arduino Circuit

An Arduino Mega and motor drivers control five stepper motors and one servo for coordinated system motion.

What I Learned & Future Improvements

This project improved my ability to control precise motor movements and coordinate multi-axis motion. One key challenge was maintaining structural stability with stacked axes and motor loads, where vibration limited performance and required reduced operating voltage. Moving forward, I would integrate a gearbox for increased torque and scale the system to expand functionality and improve overall performance.