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Here are some of the things I have done for Yale Undergraduate Aerospace Association Project Rover!
First Wheel Design
First Wheel Design
Preliminary CAD model of the wheel developed for packaging and drivetrain integration studies. Assumes aluminum alloy construction, rigid-body behavior, uniform wheel–ground contact, and loading derived from nominal vehicle weight and peak motor torque with a minimum safety factor of 2.0.
Updated Wheel Design
Updated Wheel Design
Refined wheel CAD geometry incorporating reduced spoke count and simplified hub features to improve manufacturability and mass efficiency. Assumes identical material properties, boundary conditions, and torque loading as the initial design for direct structural comparison.
FEA Configuration to Test Integrity of Motor Assembly
FEA Configuration to Test Integrity of Motor Assembly
Finite element analysis setup used to evaluate motor assembly structural integrity under representative operational loads. Model assumes linear elastic material behavior, bonded contacts, fixed mounting interfaces, and quasi-static loading corresponding to peak motor torque. Mesh consists of second-order tetrahedral elements with local refinement at fastener interfaces.
Rod to Arm Differential
Rod to Arm Differential
CAD model of the rod-to-arm differential mechanism used to transmit and distribute axial input loads into rotational motion at the arm interface. Assumes rigid joints, linear elastic material behavior, ideal pin alignment, and quasi-static loading with negligible backlash and frictional losses.
Arm Rotation Limiter
Arm Rotation Limiter
Internal Isometric View
Internal Isometric View
CAD rendering of the rover leg assembly highlighting the joint that enables controlled relative rotation between paired wheel modules for terrain compliance. The joint permits limited articulation to maintain ground contact while preserving structural stability. Assumes planar motion, rigid links, symmetric wheel loading, and quasi-static operation.
External Isometric View
External Isometric View
Detail view of the wheel-separation joint governing articulation within the leg assembly. The joint allows a maximum rotation of ±25° about the joint axis, constrained by mechanical stops. Assumes ideal pin-joint alignment, linear elastic material behavior, negligible backlash, and quasi-static loading under worst-case wheel contact forces.
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