Voxel Omni-Table
A Voxel-Enabled Robotic Assistant for Omnidirectional Conveyance
Affiliation:
Northeastern University: RIVeR Lab
Role:
Time Range:
Conceptualization, Mechanical Design Engineer
2022
Skills:
Mechanical Design, CAD (Solidworks), Modular Design, Compliant Mechanisms, Compact Design, Conceptualization, Robotic Manipulation, Seafood Manipulation
Background:
This academic project sought to develop an omni-direction table and worksurface to adaptively assist in the manipulation of compliant objects such as large fish. The goal was to create a table that could provide omnidirectional assistance when needed but would maintain a flat surface otherwise. This required the development of a new kind of omni-directional table that used the edges of rotating cubes to interact with objects only when needed.
Images:
My Contributions:
• Worked with a team to assess stakeholder needs and potential project directions
• Conceptualized modular voxel-based omni-directional table with numerous inset cubes on a large table in a checkerboard pattern with the ability to rotate about alternating axes. The cubes can lay flat when unneeded, but can rotate and use their edges to assistively manipulate large items on the table
• Built multiple different concept prototypes for different ways to actuate the cubes with minimal actuators
• Submitted work for presentation at IEEE IROS 2024
Outcomes:
This project was published and presented at IEEE IROS 2024. I was reassigned to other projects before the completion of this one, so I am grateful for the work my peers were able to put into getting it across the finish line.