Quadruped Robot Proprioceptive Actuator
Aug 2020 - May 2021
Embedded Files
What?
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?
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
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
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
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