Lets assume glasses are standard and we're only talking about beer from a tap...
First things first - mod the beer tap. Put a pressure button somewhere around the underside of the tap to trigger pouring.
Next the robot itself. Put it on tracks for easy manoeuvrability and set a static path for the time being. You could rig up some kind of tracking device to be held by the nominated person and a follow mode but lets stay simple for now. Map out a static path and have the robot follow it.
To achieve the pouring have a 10 or however many glass carousel on the top of the robot. Each glass is held in place when stationary but sits on a piston allowing them to be raised individually. The robot can sit under the tap pushing each glass up to the pressure pad to activate beer pouring, lowering, spinning the carousel by one position and repeating until full. Then follow it's preset path back to everyone.
Sorted.
Biting the hand that feeds IT
