Giselle Onofre
Projects
Autonomous Robotic Claw
Introduction to Mechanical Design 2018

Skills: Mechanical Design, CAD Modeling, Laser Cutting, Programming, Soldering

This is the first engineering project I've ever done and the most challenging one for that very reason. It introduced me to my first machining process on the laser cutter, SolidWorks modeling, linkage design, Arduino IDE programming, soldering PCB boards, and 3D printing. We were provided with three servo actuators and one ultrasonic sensor. The ultimate goal of this project was to design a fully autonomous claw mechanism meeting the following requirements
  • Design and 3D print a SolidWorks model of the object to be grasped
  • Design a claw and claw lifter using at least 1 fourbar linkage
  • Design a tower and rotation mechanism for the claw that will move the object from one drop zone to the next drop zone in a 90 degree rotation
  • Program the lifter mechanism to pick up the object and the rotation mechanism to move the object when it is placed in the designated drop zone.
Flower Render
The Claw Object
For the first part of the project, my team and I brainstormed an easy object for us to pick up. The only constraints were that it fit within a 1.5" x 1.5" cube. We determined from the start that having a purse like design to the cube would make it easy for the claw to grab. I modeled it in SolidWorks by creating an 'X shape with 4 loops on each side through which the claw grippers could go through. To minimize weight, I created a curved profile at the bottom and shelled out the inside of the object. I designed my own supports on the inside of the object rather than using the support generator in Cura. My team and I would later design our claw mechanism based on this object.
claw gripper
lifter
rotating tower
SolidWorks Modeling
The project was split into to three deliverables: the claw gripper, the claw lifter, and the claw base rotation mechanism. The claw gripper and the claw lifter were both actuated by a servo controlling a four-bar linkage mechanism, and the rotation mechanism was comprised of two gears also controlled by a servo motor. The rotation mechanism was designed around a tower that was comprised of four parts. For the tower, my team and I came up with a puzzle piece design of 4 rectangular walls that we epoxyed together to assemble.
Flower Render
The Final Product
This project was by far the most stressful and most challenging project I've ever done but it is also one of the most rewarding projects I've ever done. From my professor, teammates, and classmates I learned about the ingenuity that comes with engineering design.
Check it Out!