Mechanical Design

Cement 3D Printer

Objective: Develop large scale gantry based cement 3D printer with heaters and stepper motors.

Contributions: a. Integration of all motors, sensors and controllers using Marlin Firmware

b. Design and prototype parts eg. Extruder holder, belt holder, etc using Plasma Cutter, CNC Milling, etc.

Skills: SolidWorks, CNC Milling, G codes, Process Improvement, 3D Printing

RoboXO - A tic-tac-toe playing Robot

Objective: Play TicTacToe against a 4DoF PRRR robot using XO tokens with electromagnetic endeffector

Contributions: a. Derive forward and inverse kinematics using symbolic toolbox in MATLAB

b. Design and prototype parts eg. links, mounts, carriage holder, etc. Use relay to control electromagnet

Skills: SolidWorks, MATLAB, Arduino, 3D Printing

Design, Development and Fabrication of a Series Elastic Actuator

Objective: Designed a servo motor mounted module to reduce jerk impact and estimate force

Contributions: a. Design and evaluate several patterns for torsional spring and module

b. Incorporate AMS bournes encoder to measure torsional stiffness

Skills: SolidWorks, Laser Cutting, Turning, CNC Milling, Arduino, 3D Printing

V-REX 80

Objective: Design and fabricate trussed device to lift heavy objects with forklift attachment

Contributions: a. Perform requirements gathering, kinematics and product design using SolidWorks. Verify design using ANSYS FEA to reduce weight.

b. Select off-the-shelf parts, actuator sizing, abttery selection, etc.

Design of Compact High-Speed flexure based Micro 3D Printer

Objective: Use precise compliant X Y stage to build SLA 3D printer and print small parts(~2mm)

Contributions: a. Design (DFA/DFM) each motion stage with mirrors to guide lasers to resin vat

b. Perform FEA using ANSYS to measure and reduce parasitic error

c. Integrate RLS position encoders and contactless voice coil actuator

Skills: SolidWorks, ANSYS FEA, DFA/DFM, 3D Printing

Control:

Double Inverted Pendulum control

Grey box System Identification for motor, pendulum, and driver to update motor model. Code generation and deployment to TI C2000 controller and Maxon motor using Simulink embedded coder for data acquisition (DAQ). Implemented discrete PID and State Observer Feedback control (LQR/Kalman) for a comparative study.

Industrobot4.0: Control of Pick and Place PUMA 560 Robot

Implemented Object detection and multi-axes 3D LSPB trajectory generation using Robotics Toolbox. Develop custom function blocks for inertia, gravity, and Coriolis forces in Simulink. Minimize norm error by PID control gain tuning of feedforward, PD, and Inverse Dynamics control.