TRANSFORMATIVE ROBOTICS LAB

2022 Summer

Worked under Dr. Jeffrey Lipton and PhD student Ian Good to characterize HSA materials
Explored various methods of 3D printing and applied my learnings to print HSAs
Modeled set-ups using CAD (Fusion 360)

UW Transformative Robotics Lab: Text

Junction Box

I first modeled a Junction Box, which would connect several wires through the din rails to a separate power source. This will eventually be used to help distribute the power to grabbers.

3D Model

UW Transformative Robotics Lab: Quote

Two Motor HSA Platform Assembly

Next, I modeled a two-motor HSA platform assembly, reducing the number of motors in half. I reduced the number of cube mars motors, allowing the design to be smaller but just as efficient.

3D Model

UW Transformative Robotics Lab: Quote

Printing HSAs

First, I used a Carbon 3D printer to print several designs of HSAs. I cleaned the platform and parts, then cured the parts, getting them ready to be tested.

Testing HSAs (click for full view)

After all the HSAs were printed, I used an Instron machine to test and gather data of the HSAs at different extension lengths and rotation degrees.

Testing HSAs (click for full view)

After all the HSAs were printed, I used an Instron machine to test and gather data of the HSAs at different extension lengths and rotation degrees.

UW Transformative Robotics Lab: Pro Gallery

HSA Passive Gripper

Lastly, I modeled a compact HSA Passive Gripper, utillizing the HSAs and 2 motors that can extend. Afterward, I printed it using Nylon and assembled the gripper.

HSA Passive Gripper (click for full view)

Lastly, I modeled a compact HSA Passive Gripper, utillizing the HSAs and 2 motors that can extend. Afterward, I printed it using Nylon and assembled the gripper.

UW Transformative Robotics Lab: Pro Gallery