Hammering Robot (2021)

Motivation:

Build a bio-inspired robot that hammers to determine the optimal hammering path.

Description:

This robot uses impedance control with various set trajectories to hit a target. The target is a vernier force sensor that works with the lab quest mini and logger pro to measure the force at impact. The robot is a 3 degree of freedom arm, but uses a passive joint for the hammer. It was part of a group project. I primarily did the hardware and animation.

Lessons Learned:

I learned a lot about different control schemes in this class. I also learned a decent amount about finishing 3D printed parts. In the robot showcase, our hammering ball flew off. I learned that we should have used a helicoil to prevent this in the future.