Our final robot arm had 5 Degrees of Freedom. We had one revolute joint in the base, followed by a vertical prismatic joint which used a string and pulley to move what we called "the carriage", then two more revolute joints with parallel axis to the first, and a final revolute joint to rotate our end effector to pick and place the coins in the board. For our end effector, we used an electromagnet to reduce the amount of design work and reduce the level of accuracy our arm would need to achieve. We calculated all the forward and inverse kinematics for translating 3D coordinates to movements of the servos within the arm and include these calculations into the program of the arm.

*For more information on the arm check out our final presenation included below!