The basic idea for the design is an articulated tube with motors to change positions so it can be placed on top of the cup that is programmed to be filled. This involves designing a top funnel to collect the pellets, several joints to position the arm, and a butterfly valve to open or close the material flow. The design can be seen in Figure , where the arm is shown mounted on the pelletizer and in the intended position to fill the cups in a tray.