Freedom and Constraint Topology - Screw DOF

• Engineered a swappable constraint system that allowed the device to mechanically switch between two distinct screw pitches 0.6 mm/deg and 1.8 mm/deg.

• Fabricated a functional prototype using acrylic flexures and polypropylene bodies to validate the stiffness and kinematic trajectory over the required 3-degree range of motion.

• Built prototypes using laser-cut acrylic and wood bases to verify functionality.