CNC Mill
After upgrading my 3D printer, the chassis of my trusty Ender 3 couldn't be left to rot. I have improve my manufacturing facilities by modifying it into a CNC mill. The goal is to be able to machine carbon fibre and aluminium, for the parts where 3D printing just won't cut it. (DISCLAIMER: THIS PAGE IS A WORK IN PROGRESS)
Gripper Overview
Figure 1: The Quasi Direct Drive Gripper, showcasing its compact design and precision components.
Interactive 3D Model (Coming Soon!)
Project Description
The gripper is designed to reduce the gap between robotic intelligence and dexterity. It utilizes a quasi direct drive mechanism, improving torque control and allowing for more delicate manipulation of objects in real-world applications.
Images
Figure 1: Gripper prototype during testing phase.
Figure 2: Gripper performing dexterous manipulation on small objects.
Project Specific Skills
- Dynamic system design
- 2nd order homogenous systems of differential equations
- Impedance/Admittance control
- Model Reference Addaptive Control
- Microcontroller programming (STM32F401RE)
- Sensor integration (Quatrature encoder, Load Cell, HX711)
- Electronics Design
- DC Motor Control