Design and Development of a Compact Integrated Pick-and-place Platform for Confined-space Material Handling Applications

Abstract

This manuscript presents the design, development, and experimental validation of a compact pick-and-place robotic bot intended for confined-space material handling applications. The proposed system integrates omnidirectional mobility, turret-based rotation, vertical lifting, forward extension, and a claw-type gripper within a compact footprint. The research was conducted through a systematic development framework, as shown in Fig, encompassing literature review, research gap identification, subsystem design, analytical calculations, CAD modeling, material selection, fabrication, integration, validation, and application assessment. A mecanum-wheel drivetrain was adopted to enhance maneuverability in restricted environments, while a turret–lift–extension architecture was implemented to maximize workspace accessibility without increasing the overall platform dimensions. The robot was modelled using computer-aided design (CAD) tools and fabricated through a hybrid manufacturing approach combining CNC-machined aluminium components with 3D-printed PLA parts. A functional prototype was successfully assembled and experimentally evaluated to verify subsystem integration, mechanical feasibility, and operational performance. The fabricated system demonstrated stable rotational and linear motion, effective object grasping capability, and strong agreement between the digital design and the physical prototype. The findings confirm that the proposed robotic platform provides a practical and scalable foundation for compact pick-and-place operations in laboratory automation, educational robotics, pharmaceutical handling, and small-scale industrial material transfer applications.