Muchi Drawer

The Project

The Muchi drawer is a custom drawing device developed for art therapy. The Muchi Drawer is an automated, high-precision drawing arm designed to bridge advanced robotics with meaningful art therapy for children with autism. Originally engineered as a complex, walking robot dog, the project was strategically pivoted into a Coaxial 5-bar linkage powered by a backlash-free Capstan rope drive system. To validate its custom Python inverse kinematics pipeline and navigate razor-thin 1.5mm hardware clearances, the machine was thoroughly optimized through a digital twin inside the Webots simulation environment. Developed alongside volunteer work for Peer 1 on 1 and STEMsters, this project democratizes high-end engineering concepts into accessible, impactful tools for local communities.

View this project on YouTube