This robot dispenses cups one at a time. It has two parts, the cup separator which is a single piece that slides between the cups allowing one to drop through whilst holding the stack of cups, and the robotic arm that moves the stack back and forth in to the separator. This can be scaled for any size cup. The medium cup separator is used in the photos.
The cup separator CAD files has 3 sizes:
Small - fits 30ml shot glasses
Medium - fits 200ml plastic cups
Large - fits 568ml plastic pint cups
The separator can be scaled for most size plastic cups.
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