PROSPECT
Precision Robot Spectroscopy Exploration and Characterization Tool
Affiliation:
Northeastern University: RIVeR Lab
Role:
Time Range:
Sole Mechanical Design Engineer
2022-2024
Skills:
Mechanical Design, CAD (Solidworks), Spatial Mechanisms, Spherical Linkages, Compact Design, Hyperspectral Sensing, Electronics, Servo Motors, Kinematic Analysis, Technical Writing, Academic Research
Background:
This was an academic research project associated with the RIVeR Lab. As part of an effort to use hyperspectral sensing in robotics, we set out to develop a precision robotic system that could take a hyperspectral measurement at a number of points on a desired inspection object and create a 4-dimensional map of an object and its material composition or properties. This involved the development of a custom end of arm tool that could adjust a hyperspectral probe to be normal to and appropriately offset from an object's surface.
Images:
My Contributions:
• Conceptualized stewart platform-based 6 DoF end of arm manipulator
• Built stewart platform using fiber-reinforced additive manufacturing and dynamixel servos
• Refined multiple prototypes to improve range of motion and backlash
• Integrated electrical components, sensors, lights, and computer into low profile stewart platform package
• Helped assess kinematic reliability and accuracy
• Helped run tests to create point clouds of real objects using hyperspectral system
Outcomes:
This project was published and presented at IEEE IROS 2024. It has been used to create numerous 4D maps of objects of interest in our lab. The lessons from this project have gone on to inform other hyperspectral research projects.