Thursday, December 10, 2015

Incurve Spherical Robot

For my senior design project I was the chief designer of the internal mechanisms of a spherical robot. Both actuated degrees of freedom have a full range of motion unlike any other spherical robot built. Additionally the team was able to design an original non-holonomic controller for the omni-directional system we were pursuing.

The photos below show the design progression that the system took. All the CAD seen is my own original work (Except for the shell in the final image). I apologize some concepts were abandoned before they could be completed.

Original Concept and Outline
Full Aluminum Truss-Like Structure
Hybrid Wood-Aluminum with Linear Actuator
Hybrid Material with Offset Planes of Rotation
Final Design Designed for Controller Simplification
Final Design of the Incurve Spherical Robot

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