Homemade Lathe
In the building of other projects I am always chasing precision, parts with tight tolerances are the way to achieve this, but often exceed the project budget. What better way to improve my access to precision parts whilst learning more about what goes into making machines precise than to make one myself! (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