This is a PID controlled automatic linkage that presses a sequence of buttons as quickly as possible. To complete this project, I

• Solved a 3-point inverse kinematic motion generation problem by hand, using the standard dyad model

• Used an NSGA2 machine learning algorithm to optimize link lengths for lowest transmission angle

• Created a functional assembly in SolidWorks

• Created properly dimensioned engineering drawings of all parts involved

• Manufactured parts from Aluminum stock using a CNC mill, lathe, and other shop tools

• Wrote a PID controller Arduino program and tweaked its parameters for maximum buttons pushed