DIY SMT Pick and Place Machine

Robot designed and built to assemble circuit boards using surface mount components. Mechanics include custom ball screws, motors, rails, bearings, custom machined aluminum parts, surplus feeders, and lots of screws. Custom-designed servo controller hardware drive servo motors for X,Y,Z and theta axes. Compressed air operated feeders supply the various components. Vacuum pump provides suction for vacuum needle. Timed compressed air operates the paste dispenser.
The parts being placed are about the size of a sesame seed.