Mechanical Engineering Capstone
Design and prototype a device that can be used to study foot-soil interactions of a robotic leg
RIVeR Lab, in collaboration with NASA, is interested in studying how the feet of humanoid robots, such as NASA's Valkyrie, ineract with different terrains
Take measurements that can be used to determine a relationship between the ground and the foot
Brainstormed different methods of actuation and test stand designs
Used decision matrices to determine best course of action
1 DOF hip and knee actuation through gear
reductions. 2 DOF ankle manipulated by two linear actuators
Test stand has slide rails to allow for hip mount to move in two directions
Compression springs are mounted on the legs of the test stand to allow for dynamic height change during a step
Performed failure analysis on key components to veify structural integrity
6-axis force/torque sensors mounted in the ankle as well as, encoders,
potentiometer, and inertial measurement units mounted through out
Wired together all components as well as created wiring diagram to allow for debugging in future use
Programmed the leg with an Ardunio using a State-Machine format
Tested the leg on three different surfaces: Carpet, Linoleum, and Mulch
Gathered force/torque data for each surface and was able to show that out device could distinguish between surfaces
Major Design Project
Design a wind turbine to be used in an urban setting
Combines the Darius and Gorlov turbine designs for efficiency in limited space
Gorlov Design uses foils similar to airplane wings to generate a force no matter the direction of the fluid.
Design was modeled in Solidworks to demonstrate concept.
Design and build a machine to shoot foam basketballs into hoops of varying height and balance on a bridge
Led design team in creation of machine
Four-wheeled drive with 1/4" base plate for low center of gravity as to not tip on the bridge
Utilized Autodesk inventor to design and machine base plate as well as shooting supports.
Shooter was a two wheeled fly-wheel mounted on a rotating turret.
Turret and shooter wheel speed were controlled by a camera which tracked the location and distance of the target.
Designing parts in Inventor and then machining them on CNC mill.
Collaboration between build team and software team through out the build
Leadership through delegation of tasks to other team members
Recreational Drive Train
In my spare time, I decided to model a drive train that could be used in a FIRST Robotics Competition
Six wheeled drive with the center wheel dropped 1/32" to allow for greater control
Powered by VEXPro 2 CIM Ball Shifter gearbox mounted using hex standoffs in the corner
Frame made of 1" x 2" tubular aluminum that would be riveted together
Power would be transmitted to each axle through chain and sprockets
Design is still unfinished and only modeled within Solidworks.
Hope to fabricate one day
Proudly powered by