https://nataliebuildsthings.com/portfolio daily 0.75 2024-02-07 https://images.squarespace-cdn.com/content/v1/5c5c8e28da50d356541de907/1549569648407-O9WKYLUS91N3MSET8R11/image-asset.jpeg Work Portfolio https://nataliebuildsthings.com/portfolio/2021/3/14/nasa-osam-1 monthly 0.5 2024-02-07 https://images.squarespace-cdn.com/content/v1/5c5c8e28da50d356541de907/7659857d-67a1-4695-a6f0-a550597e56f8/Vacuum_Solutions_Chamber_1.jpg Work Portfolio - NASA OSAM-1 - Make it stand out A GSFC thermal vacuum chamber. I would later find myself to have to become very familiar with these systems! https://nataliebuildsthings.com/portfolio/2020/5/20/covid-response-work monthly 0.5 2024-02-07 https://images.squarespace-cdn.com/content/v1/5c5c8e28da50d356541de907/1594840792293-4UP243HEVUZR13WULMPX/imageproxy.gif Work Portfolio - Recyclablu: WHO Recognized Research https://images.squarespace-cdn.com/content/v1/5c5c8e28da50d356541de907/1594841926490-FQK7DTV7VUCXFF2B2SYO/circuit.png Work Portfolio - Recyclablu: WHO Recognized Research https://nataliebuildsthings.com/portfolio/2019/10/28/ledcore monthly 0.5 2024-02-07 https://nataliebuildsthings.com/portfolio/2019/2/7/northrop-grumman-autonomous-ground-vehicle monthly 0.5 2024-02-07 https://images.squarespace-cdn.com/content/v1/5c5c8e28da50d356541de907/1ed02e9d-6016-478f-93ab-94c4df4c943c/platforms.jpg Work Portfolio - Northrop Grumman Autonomous Rescue Drone - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5c5c8e28da50d356541de907/1550549432934-UN3831GQ7HHQWB1RYATD/NorthropGrumman_Robotic_arm_render.png Work Portfolio - Northrop Grumman Autonomous Rescue Drone - Robotic Arm This addition to the UGV was intensively designed from the ground up. Read the full article here. https://nataliebuildsthings.com/portfolio/2019/2/7/ngcp-robotic-arm monthly 0.5 2024-02-02 https://images.squarespace-cdn.com/content/v1/5c5c8e28da50d356541de907/1550552676106-VQZ9I2QGUXUD0RO5AMPE/NorthropGrumman_Robotic_arm_render.png Work Portfolio - NGCP - Robotic Arm / End Effector - Introduction In 2016, Northrop Grumman imposed a new mission objective: In addition to autonomously locating the payload, the UGV would now autonomously pick up and retrieve said payload. As a result, the NGCP mechanical team, created a 5-DoF, articulated robotic arm equipped for autonomous operation. https://images.squarespace-cdn.com/content/v1/5c5c8e28da50d356541de907/1550553747758-48CJ7NJ0VNXZ7OPYUY7U/8afb5aab383549c09c642925f92051be.jpg Work Portfolio - NGCP - Robotic Arm / End Effector - Mechanical Constraints: Weight Our first approach was to reduce any unnecessary weight on the robotic arm. I explored various materials for their high specific strength. Although I considered carbon fiber and fiberglass, these materials were time consuming and labor intensive for us to produce, which did not fit our rapid prototyping environment. Ultimately I found common 6061 aluminum and 3D printed PLA/PETG to be the most suitable materials for our project. Due to the lack of studies into 3D printed parts, we verified the strength of our prints through testing, eventually refining our printing processing to eliminate mechanical failures. https://images.squarespace-cdn.com/content/v1/5c5c8e28da50d356541de907/1550555073177-B74H6XITFA7MLD32WMTJ/Capture.JPG Work Portfolio - NGCP - Robotic Arm / End Effector - Computer Vision The robotic arm was built to be capable of fully autonomous operation. A combination of servo torque feedback, along with a modified webcam for OpenCV provided the necessary data to the UGV NUC. Future versions of the robotic arm may incorporate a break beam sensor in order to aid in “aiming” the end effector. https://images.squarespace-cdn.com/content/v1/5c5c8e28da50d356541de907/1550551334634-6K8HL3UIM01OIW62PHP3/fdae3a21defb4947913edb4bbc6c2190.jpeg Work Portfolio - NGCP - Robotic Arm / End Effector - Mechanical Constraints: Design Our 2nd approach was eliminate strain on our servos through strong mechanical design. Although many articulated robotic arms ultitize a direct drive, the forces expected in operating the UGV in rough terrain would quickly overload the servos. Stepper motors could better performance due to their ability to “hold” torque, but are heavy, power intensive, and required an additional encoder. As a result, the majority of the robotic arm is designed to minimize backdrive while providing high mechanical advantage. The two joints of the robotic arm feature a leadscrew, while the end effector is driven through a custom worm gearbox. 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