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5 DOF Robot Arm - 2022/2023
5 DOF Robot Arm - 2022/2023
This unique 5-degree-of-freedom robot arm utilizes a z-axis gantry which moves a 4-degree-of-freedom arm that provides a wider range of motion. This idea was developed because of time constraints, manpower and funding. Due to the lack of funding, I opted to reuse as many components we had in storage and anything on the rover that was deemed useful. In this case, the old Carbon fibre tubes on the z-axis were reusable and the connecting tubes and gantry tubes were made of old stock material. All custom aluminum parts were machined at a low-cost vendor or from sponsorship at a local machine shop. This allowed us to reduce costs to create more projects for this year. The components utilize skeletonized aluminum plates for ease of manufacturing and weight reduction. The overall design weighed 8.4kg compared to the 10kg old design. It also improved the dexterity and range of motion of the arm using a 4DOF arm at the end of the gantry instead of a SCARA design.
The carousel displays the original hand-drawn concept, the CAD, the components, and the final arm.
End Effector - 2021/2023
End Effector - 2021/2023
This worm-driven 4-bar linkage mechanical claw went through 3 iterations before the final design was made out of aluminum. The final claw has an Allen key pointer that is used for pressing buttons, unscrewing bolts and typing on keyboards. The new TPU grips provide constant force onto objects being held. The final design was created to be smaller and compact while outputting the same amount of force as the previous claw.
The carousel displays the first two iterations and the video demonstrates the current claw closing
Rover Wheels - 2020/2023
Rover Wheels - 2020/2023
This was my first project on the team, where I was responsible for designing a 3D-printed PETG rim. The design process was quick, utilizing FEA for optimization. Once the school transitioned back to in-person, we were able to test and develop the first set of wheels, using tires designed by another group. However, these tires were too soft and spongy, so I updated the design to stiffen the tires and improve ground grip.
After further testing, the design performed adequately but resulted in a heavier tire that was prone to punctures and quick wear. To address these issues, I created a third tire design using Vytaflex 60 polyurethane, a much stiffer and more durable material. The initial cast of this polyurethane had issues with sticking to the mold, which was resolved by applying a better mold release and sealer. Additionally, the 3D-printed molds required extra sanding to produce a smoother surface, preventing the polyurethane from adhering to the mold.
The final design successfully provided the desired dampening qualities while reducing overall weight. The images display the first iteration, its mold, and the final wheel design.
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