Robotics teachers can explore the multidisciplinary formation of the engineering student. The use of an appropriate learning methodology enables the development of transversal skills during this educational process. In this paper, we discuss a new experience with project-based learning involving the design and development of a low-cost robot manipulator with six degrees of freedom, to motivate undergraduate students in the Robotic Elements Course of Automation and Control Engineering, and Mechanical Engineering, of Escola de Minas at the Universidade Federal de Ouro Preto. Students carried out activities for two years, from 2012 to 2014. The key learning objectives and the project implementation tools are detailed. Evaluation results and the decrease of the dropping out of automation and control engineering show that this project was effective for students' engagement and motivation.