The Pretzel Maker

Last night Grog and myself got to talking, and he said I should make a robot to do my job and allow me to reap the benefits.  While being a great idea, implementation would be troublesome.  I determined that to do every task I have I would need a variety of specialized bots.  Regardless the thought of making a robot that can make a pretzel is quite cool, so I am going to try and design one for me to attempt to make eventually.

 

So, the steps to making a pretzel that the robot would have to accomplish is -

1. Remove Dough Slug from a pan.
2. Place Dough Slug on rolling board.
3. Roll out to a length of around 3 feet (I could be wrong, and will find out for sure at work tonight).
4. Pick up ends of dough and pass one side (lets go with left) over the other (right side).
5. Repeat above step with the new left side.
6. Pick up both ends and firmly attach an approximate length from the center of the middle.
7. Pick up pretzel, rotate 90 degrees to the left and place on the ovens conveyor belt. 

I will get some pictures to flesh out how exactly it will need to be done.  But the what I have though of so far is that the bot should have 4 arms.  A left and right arm with gripper hands to handle moving the dough ends for flipping the pretzel.  A middle arm with two gripper hands to handle the pass over of dough. And a lower middle arm with a scoop/plate to pick up the pretzel and place it on the oven after rotation.  Again, I will get pics of my work area and the steps involved to clarify.