Robotics Projects
An ongoing "full-stack" robotics project -- feel free to view the CAD model that I made for it below!
Pro-tip: use the "Explode Model" tool to pull each piece apart and see how they fit together on the robot!
Here are some short videos demonstrating the automated nerf gun shooter attachment and the mobile robot's remote control capability using ros2.
And this is a picture of the nerf gun shooter attachment on the robot!
This robot competed in the 2022 VEX World championship for the game "Tipping Point". Here is a brief explanation of the game:
My team (4 people total) re-designed and re-built a robot that was faster, more efficient, and more competitive in this game after we reached the #1 skills ranking in the state of Illinois with our previous robot. We did this by using a 6-bar lift mechanism, rather than a 4-bar, to lower our center of gravity and by reducing our gear ratio to create a 360 RPM drive on 3" wheels. 6 wheels were used, connected by a gear train. The four outer wheels are omni wheels for optimal turning, while the two center wheels are for traction and, most importantly, to prevent being pushed from the side by other robots. Here are some pictures of the CAD I made for it:
The robot used tensioned tracking wheels to know where it is on the field during autonomous control, with the help of PID and odometry algorithms. It also had a locking-clamp on the front of the lift that is used to hold and protect mobile goals from being stolen by other robots, activated with a pneumatic piston. The lift then allows the robot to place the goals directly onto the ramp to score 40 points each.
After completing the design of the robot, we made some fun finishing touches to it including laser-cutting polycarb sheets for the sides of the drivetrain, spray-painting many parts of the robot red, and (my favorite part) adding red LED strips that are powered by a separate battery (we didn't want this to affect the main battery life during matches). Here are some pictures of the finished robot!
Lastly, here is a video of the robot working autonomously!