Robotics
Robotics
Portable Gripper
Designed and developed a portable gripper from concept to completion, handling all aspects including CAD modeling, prototyping, 3D printing, and coding. The mechanical system was engineered using linkages and gears, which were fabricated through 3D printing and laser cutting. A stepper motor, programmed with a Raspberry Pi, controlled the gripper’s motion. Throughout the process, we overcame challenges in assembly, ensuring the printed components had a precise thickness to optimize fit and functionality. Additionally, we designed the gripper in a cup-like shape to improve grip and securely hold the ball.
Ball Sorter
We designed and developed a ball sorter capable of sorting balls of different colors, featuring a 3D-printed funnel, an acrylic laser-cut box, and additional wooden components. The system used a Raspberry Pi, a color sensor, a stepper motor, and a servo motor, and it was programmed to handle multiple balls at once, autonomously grabbing them one by one, detecting their color, and sorting them into the correct bin. One major challenge was designing the half-circle mechanism that moved the balls—it had to be positioned at a precise angle to ensure only one ball moved at a time without disrupting the others. Additionally, integrating the color sensor was difficult due to compatibility issues with one of our Raspberry Pi models, and calibration required fine-tuning to ensure accurate detection.
Line Follower-Robot
We designed and developed an autonomous robot that followed black lines using a Raspberry Pi, an H-bridge, two DC motors, and IR sensors. The logic behind the robot’s navigation was based on a simple yet effective system: when the sensor detected the black line, it turned into a “1,” and when it was off the line, it turned into a “0.” By playing with this binary data, we developed the code that determined when the robot should turn right or left, making it navigate the path efficiently.
I was hands-on throughout the entire process, from CAD design and 3D printing to wiring and coding. One of our biggest challenges came with motor calibration. The motors exhibited unpredictable speed variations, even when we weren’t commanding them to change speed. Another hurdle was the wheels we selected; they had bearings that caused slippage, so the motors would rotate without the wheels moving as expected. Finally, we spent a lot of time calibrating the IR sensors to ensure they were within the same range, allowing them to send the correct feedback to the system.
Despite these obstacles, we were able to troubleshoot and refine the design, and in the end, we were proud of the working robot we created. The entire process taught us valuable lessons in problem-solving and hands-on engineering, and the satisfaction of overcoming the challenges made it all worth it.
Color Line Follower-Robot
We worked on an autonomous robot equipped with a Raspberry Pi camera, programming it to follow a red line. While implementing the line-following functionality, we encountered some challenges, particularly in creating the mask and ensuring the robot navigated curves correctly. Additionally, we struggled with the impact of battery levels on the robot’s velocity, which affected its performance. Despite these difficulties, we successfully got the robot to follow the line multiple times. In the end, we were pleased with our progress and the results of our work.
Gym Battle
Gym Battle
We successfully connected to ROS2 and sent messages to the robot. We activated its sound and movement, published messages, and executed actions, gaining a solid understanding of the robot's internal workings.
Our final setup allowed us to connect the robot to the table via WiFi, enabling us to send messages to control its speed and angle. This setup allowed us to navigate the robot through the obstacle course.
We wrote several Python scripts for individual actions and a main script that connected the online table with the robot, processing speed and angle commands. Additionally, we used FaceTime to monitor our progress in real time.
