Lego mindstorm palletizing robot

3 axis palletizing robot to take small metal sheets from conveyor to pallet by magnetization created by a relay coil. the relay coil is energized by a electronic circuit that consists of LDR sensor and transistor. The red led of the lego color sensor is used as light source for LDR. Helper Parallel arms are used for keeping the magnetic gripper horizontal to the floor.3 Servos move synchronously and positions can be taught in teaching mode by jogging. Lego controller buttons is used for jogging axisis.