Project Overview
Explore a selection of projects that highlight my passion for solving complex problems and pushing the boundaries of engineering. Each project demonstrates a commitment to innovation and excellence in mechanical engineering and mechatronics. Discover the technologies used and the impact of each solution.
System overview
The robot is an autonomous collection system designed to operate within a constrained competition arena. At startup, the robot initializes its sensing systems to determine both the starting field color using a color sensor and its initial orientation using a digital compass. This information is stored and used later for end-game navigation.
Mechanically, the robot uses two servo-driven mechanisms: a collection arm and a sweeping arm. At the beginning of the match, the collection arm deploys from a folded configuration that complies with the 12-inch diameter size constraint. The sweeping arm remains retracted until an object is detected at close range.
Once initialization is complete, the robot enters its object-seeking mode. It rotates in place using differential drive motors while an ultrasonic sensor continuously measures distances to nearby objects. When an object is detected within a defined acquisition range, the robot transitions to forward motion and approaches the target. Upon reaching the sweeping distance, the robot halts and actuates the sweeping arm, which pushes the object into the deployed collection arm. This process repeats autonomously throughout the main portion of the match.
Electrically, the system integrates multiple sensors—including an ultrasonic distance sensor, a color sensor, and a digital compass—along with continuous-rotation servos for mobility and positional servos for arm actuation. These components are coordinated by a microcontroller that manages real-time sensor readings and motor commands.
Software ties the system together through a state-based control architecture. The program governs mode transitions such as scanning, pursuing, collecting, and returning. As the match enters its final phase, the robot switches to a return behavior: it uses the stored starting orientation from the compass to realign itself and then drives until it detects the opponent’s field color continuously for one second, signaling correct positioning. This integration of mechanical design, sensor feedback, and control logic enables reliable autonomous operation throughout the game.
Design & Development Process
In terms of mechanical design, I was in charge of designing and fabricating. The whole team came up with our own concepts for how we envision this project. Originally, we had an idea for two "cage" arms, one on either side of the bot, but this idea later got scrapped in favor of the one arm deisgn. When designing all of these parts, I kept in mind the sizing limitations and designed around them, but also kept the size as optimized as possible. Originally, this cage had a floor, but after testing, we found it inconsistent with the actual collection of the blocks. This is when we got to our final design with just the guide rail. Along with this, I also designed mounts for everything necessary to ensure prescision amongst systems and easy assembly.
Sensing and Control Strategy:
My role focused on implementing and refining the robot’s sensing and control strategy using the ultrasonic sensor, color sensor, and compass. The ultrasonic sensor was used to detect and approach blocks, while the color sensor handled boundary detection and identifying enemy territory. Although a compass-based return strategy was initially developed for late-game navigation, it proved unreliable and was ultimately removed. On the first day, the robot relied on reactive sensor-based navigation to reach enemy territory. For the second day, I adjusted the control logic to keep the robot near the center of the board and use color-based searching near the end of the match, resulting in more consistent and reliable behavior.
Testing and Performance
As for testing, this was our weakest leg of the project. We performed testing at the tail end of the project deadline. We were scrambling to get a finished working code on the day of the actual competition. All was working well, the only thing we had real trouble with was the digital compass. For some reason, no matter how many iterations the code saw, we never got to fully develop the compass to our desired needs. Everything else, however, was a success. We were able to test the main loop of collecting blocks, and it excelled in this aspect. Other components like the color sensor also required heavy testing and calibration to finally get working, but in the end, it did its jo,b and it did it well.
Reflection of the Project
Overall, this project, through all its hardships, proved to be not only a success but a very valuable lesson in the world of mechatronics. This was my first-ever major project dealing with the subject, and when I first started this course, I was hesitant to fully immerse myself in something so foreign to me. However, after working with my team and really learning about the world of robotics, I have grown to love the subject. I plan on making many more cool little side projects with the skills learned from this project. Although we had our hiccups, the learning experience was extremely worth it. Implementing CAD design with electronics made this such a challenging task, but that made it all the more worth it. From a technical standpoint, the robot demonstrated reliable autonomous behavior by avoiding field boundaries, but it lacked a robust localization or mapping system to consistently guide itself into enemy territory. The ultrasonic sensor, when paired with the sweeping arm mechanism, proved effective at detecting and collecting blocks and securing them throughout the round. Future improvements could include more structured state logic and enhanced navigation strategies to reduce sensor noise and improve late-game field positioning. Additionally, the sensors occasionally detected nearby robots or spectators outside the field, causing unnecessary pursuit behaviors and time loss. Despite these challenges, the system functioned as intended overall, and all project requirements, including documentation and technical inspections, were successfully completed
Create Your Own Website With Webador