Landing robot ( Testbed )

Summary:

Developing a testbed to evaluate impact mitigation strategies for landing robots, focusing on the use of series elastic actuators, passive and active springs for energy dissipation control, and precise landing sensor integration

Role and Responsibilities:

• Led the design and development of the testbed
• Integrated various sensors and actuators
• Developed control strategies for energy dissipation

Skills and Tools Used:

• Programming: C++
• Sensors: IMU, Ultrasonic sensor
• Actuators: Series Elastic Actuators
• Tools:Onshape, ESP32
• Fabrication: 3D Printers, CNC Machines

Problem Statement:

The challenge was to create a robotic system capable of mitigating impact forces during landing, ensuring stability and integrity upon touchdown

Solution Approach:

• Modeled the robot in Onshape
• Ensured the design included adequate space for sensor and actuator integration
• Designed for modularity to facilitate easy updates and modifications
• Developed control algorithms to modulate the stiffness of series elastic actuators based on real-time sensor data
• Implemented feedback loops to adjust the energy dissipation mechanisms dynamically
• Integrated IMU and distance sensors data to monitor landing impact in real-time
• Programmed the ESP32microcontroller to process sensor data and control the actuators

Technical Details:

• Utilized series elastic actuators to absorb and dissipate energy during landing
• Designed passive and active spring mechanisms to further mitigate impact forces
• Implemented precise landing sensors to provide real-time feedback for control adjustments
• Used 3D printing and CNC machining to create custom parts for the robot
• Laser cut components to ensure precision and durability

Results and Impact:

• Early testing demonstrated effective impact mitigation during landing scenarios for small height ( ~50cm from robot chassis )
• Enhanced understanding of energy dissipation mechanisms and control strategies for dynamic systems. Explore series elastic actuation in robotics

Reflection:

This project provided valuable insights into the complexities of dynamic system control and impact mitigation. It enhanced my skills in integrating advanced sensing and actuation technologies, and reinforced the importance of iterative design and testing in engineering projects