3. 3 – axis servo positioning table with accuracy 1°
responsibilities
design conceptualization
CAD modelling
sourcing parts
drive selection and setup

4. component and model
level FEA verification
detailed machining
drawings

5. max. payload 55lbs
22”x12”x14” envelope
brushless DC motors with
50:1 ratio & 16k CPR diff.
encoders
off-centered mounting
platform for gravity
compensation
welded aluminum frame
with non-magnetic brass
drive
low voltage controller for
minimizing EMI
servo brakes for
emergency stop

7. 2 players face-off in ‘button mashing’
I primarily designed the event driven framework
and developed the source code in embedded C

8. Timer on servo arm
‘hop-skip-jump’
warmup
Servo actuated
victory flag
GAME MODULE
‘Punch’ Buttons
Attack & Damage LEDs
Belt with embedded
accelerometer
Audio with 5W speaker

11. Industrial Puma360 platform programmed for drawing in 3 weeks
responsibilities
end-effecter design
motion control programming

12. original image
reduced color map by
k-means clustering
outlines using
Hough transform
final point-set ready for
inverse kinematics

13. end-effector design
passive compliance to maintain
contact with canvas