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Robotic manipulation and grasping in cluttered and unstructured environmentsis a current challenge for robotics. Enabling robots to operate in thesechallenging environments have direct applications from automating warehouses toharvesting fruit in agriculture. One of the main challenges associated withthese difficult robotic manipulation tasks is the motion planning and controlproblem for multi-DoF (Degree of Freedom) manipulators. This paper presents thedesign and performance evaluation of a low-cost Cartesian manipulator, Cartmanwho took first place in the Amazon Robotics Challenge 2017. It can perform pickand place tasks of household items in a cluttered environment. The robot iscapable of linear speeds of 1 m/s and angular speeds of 1.5 rad/s, capable ofsub-millimetre static accuracy and safe payload capacity of 2kg. Cartman can beproduced for under 10 000 AUD. The complete design is open sourced and can befound at http://juxi.net/projects/AmazonRoboticsChallenge.

Mechanical Design of a Cartesian Manipulator for Warehouse Pick and Place