Quadruped Robot Proprioceptive Actuator
Aug 2020 - May 2021
What?
Inspired by advancements in quadruped robots.
Aim: To build a robotic actuating system, focusing on an efficient torque amplification device.
Part of a senior design class spanning one school year.
Team of six members, funded by departmental and prototyping funds.
MIT mini cheetah
How?
Developed two types of torque amplification devices: Planetary Gearing and Cycloidal Gearing.
Selected Cycloidal Gearing for its lower cost, ease of manufacturing, and backdrivability.
Design features: high torque output, low backlash, use of off-the-shelf and 3D printed components, compact packaging.
Addressed 3D printing challenges like shrinkage and warping through material selection and scaling factors.
Results
Created a working prototype of the actuator with Cycloidal Gearing.
Learned the importance of teamwork, thorough research, and perseverance.
Overcame challenges related to budget and supply chain issues.
Produced a compact, efficient, and cost-effective actuator for robotic applications.
Demonstrated effective problem-solving and the value of collaborative design in engineering projects.
Backdrivability Test
Proportional throttle test
Pictures Taken during Fabrication and Testing
3D Printing of Actuator Casing
Assembly: Pressing Rods into Actuator Casing
Assembly: Close Actuator Casing
3D Printed Actuator Casing
Assembly: Installing Sleeves
Coding Motor Control Board
Bearing, Belt, Gears, and other Materials
Assembly: Almost Done
Testing Actuator RPM