Embedded Files
Initial Full System Sketch
Turntable Sketch
X-axis Gantry Sketch
Z-axis Gantry Sketch
Arm Sketch
Initial CAD Design
Overall Robot Design Mock-up
Granular Jammer End-effector Mock-up
Locomotion Design from Concept Design
Turntable and X-axis Gantry Design from Concept Design
Z-axis Gantry Design from Concept Design
Arm Design from Concept Design
Complete Robot Model from Concept Design
Full Robot Render with a 3D printed mount for the Raspberry Pi Camera, Stepper Motors, and Lead Screws
Updated Locomotion Design
Updated Locomotion Design with Open Top View
Updated X-axis Gantry Design on Turntable
Updated Z-axis Gantry Design
Updated Arm Design
Close-up View of Granular Jammer
Updated Full System Assembly
Updated Full Assembly with Reaching Arm
Rviz display with the Raspberry Pi Camera image on the left and the Kinect image on the right
Rviz display with the Raspberry Pi Camera image on the top left, the Kinect's RGB image on the bottom left, and the Kinect's Point Cloud in the center.
80/20 Base Chassis Frame
Fabricated Base DC Motor Mounts
Initial HEBI Arm Constructed
Initial Arm Inverse Kinematics Simulation in Matlab
Initial Object Classification using Neural Nets
Initial OpenCV Object Detection Results with a Shuttlecock Valve
Initial OpenCV Object Detection Results with a Breaker Box
Locomotion Base Plate Machined
Locomotion Base Constructed
Locomotion Base Constructed Side View
Locomotion Base with Electronics
Initial Base Wiring
Rendering of Base Wiring and Top Plate with Turntable
Fabricated Top Plate with Turntable
Initial Base Wiring with Ultrasonic Sensors
Granular Jammer Prototype 1
Initial Fabrication of X and Z Gantry
Bounding Boxes around Breakers
Bounding Box around Shuttlecock Valve
Bounding Boxes around Orange Valve with Orientation of Green Marker
Depth Map (Left), Target Part in Color Image (Middle), Location of Target Part (Right)
Robot Fully Constructed without Wiring (Side View)
Robot Fully Constructed without Wiring (Front View)
Full Model of Robot in Simulation with Point Cloud
Initial Wiring of Battery to Fuse and Power Switch
Half-completed Wiring
Semi-permanent Breadboard for Wiring to Arduino Mega
Almost Finished Wiring Base
Almost Finished Wiring Base
Almost Finalized Top Wiring
Front View of the Top Half of the Robot
Raspberry Pi Camera Mount Model
Raspberry Pi Camera Mount Model With LEDs
Failed 3D Print of the Raspberry Pi Camera Mount
First Iteration of Raspberry Pi Camera Mount with LEDs
Second Iteration of Granular Jammer End-effector
Top Plate with Ball Transfers for Supporting the Turntable
Locomotion Base Almost Finalized Render
Turntable and X Gantry Almost Finalized Render
Z Gantry Almost Finalized Render
Robot Arm Almost Finalized Render
Almost Finalized Full Render of The Boat Doctor
Almost Finalized Robot
Almost Finalized Robot Frontal View
Finalized Robot with Lights
Finalized Robot Side View
Finalized Robot During Testing
Finalized Robot with Engraved Acrylic Back Plate
Finalized Locomotion Base Render
Finalized Locomotion Base Render with Open Top View
Finalized Turntable X Gantry Render
Finalized Z Gantry Render
Finalized Z Gantry Skate with Pump Render
Finalized Turntable X and Z Gantry Render
Finalized Robot Arm Render
Finalized End-Effector Render
Finalized Full Robot Render
Final Robot Photo
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