The goal of this project is to design and construct an assistive robot for people with disabilities. The common solution for people with disabilities is prosthetics. However, prosthetics are expensive, and they must be uniquely designed for each user. Assistive robots are a far more robust solution. The robot’s design is not heavily dependent on the disabilities of the owner. Thus, with mass production, the cost can come down dramatically. Raspberry Pi is the microcontroller in this project. The camera detects a desired object to grasp based on color using OpenCV libraries. Then, the cartesian base, mainly made of linear rails and ball screws, delivers the gripper to the object using stepper motors. Lastly, the gripper will grasp the object with reasonable force using PID control.