Research

As part of the design team, we have been tasked with designing a winch that can raise and lower the sonar transceiver. The current gimbal is depicted to the left and can operate in 3 degrees of freedom. However, its vertical motion needs to be controlled to be able to adapt to various testing environments. We are currently on our third design of the winch which utilizes a rack and pinion system to drive the linear motion of the gimbal. We plan to use 80/20 for the main structure and a planetary gearbox to increase the holding torque of our stepper motors. More pictures to come as the winch is built, but here are some previous designs.

These are the finalized designs for a few of the parts used for testing the Allegro hand with the Digit. These parts were designed to accommodate an extra motor in Digit's arm, adding an additional degree of freedom to its range of motion. The two parts to the left are interchangeable to allow for both parallel grippers and the Allegro hand as the end effector.

In the spring, I'll get the opportunity to learn about motion capture and machine learning, and how they are integrated into various robotic applications.