4DOF Robotic Manipulator

Technologies and Libraries: SolidWorks (CAD), Machine Desgin Principles, GD&T (Geometric Dimensioning & Tolerancing)

Project Overview:

This project involved designing a 4-Degrees-of-Freedom (DOF) robotic manipulator for my university's robotics team. The manipulator's purpose was to transport and squeeze a coolant-soaked sponge during the Canada's International Rover Competition (CIRC).

Project Goals and Challenges:

• Competition Functionality: Design an arm capable of transporting and squeezing a specific object (coolant-soaked sponge).

• Limited Resources: Due to the pandemic, the design had to prioritize readily available materials (stock material, 3D printing) with minimal machining.

• Design for Manufacturability: Transition from basic CAD models to designs that considered manufacturability and machining constraints.

Design Approach and Solutions:

• Iterative Design Process: The design underwent multiple iterations based on feedback from senior team members.

• Material Selection: Stock materials and 3D printing were prioritized to minimize reliance on machine shop access.

• Design for Manufacturability: I learned and implemented design practices for manufacturability, including proper use of Geometric Dimensioning & Tolerancing (GD&T).

• Joint Actuation: The design utilized geared DC motors for actuating the revolute joints, while a rack and pinion system powered both the prismatic joint and the gripper.

Project Outcome and Learnings:

• Competition Cancellation: Unfortunately, the CIRC competitions in 2020 and 2021 were cancelled due to the pandemic.

• Skill Development: Despite the competition's cancellation, the project significantly improved my:

  • CAD Skills: Transitioned from basic models to designs considering manufacturability.

  • Design for Manufacturability: Learned and applied practices for manufacturability in design.

  • Teamwork: Collaborated with senior team leads for guidance and feedback.

Skills Demonstrated:

• Mechanical Design: Designed a functional robotic manipulator with focus on competition requirements and material limitations.

• Design for Manufacturability: Transitioned from basic CAD models to designs considering manufacturability and machining constraints.

• CAD Expertise: Utilized SolidWorks software effectively for 3D modeling with GD&T implementation.

• Adaptability: Successfully navigated unforeseen challenges like limited access to the machine shop.

• Teamwork: Collaborated effectively with senior team members for project progress.