Changyi Lin

Functions of Engineer Robot

Engineer Robot’s Functions:

NO.1 Traversing stairs.
NO.2 Mineral grabbing& delivery.
NO.3 Rescuing partner robots.

I was in charge for the functions of climbing, mineral grabbing and mechanical arm for rescuing.

Climbing

Use tread-based mechanism to climb stairs with 97.5% success rate.

Mineral-Grabbing Mechanism

4D Mineral-Grabbing Mechanism (v1)

Grab three boxes of mineral in 6s.

6D Mineral-Grabbing Mechanism (v2)

Grab five boxes of mineral with rebounding in 11s.

Mechanical Arm for Rescuing

2D Mechanical Arm for Rescuing (v1)

One air cylinder for shrinking.
One air cylinder for capturing.
One limit switch functions as trigger.

1D Mechanical Arm for Rescuing (v2)

Only one air cylinder for capturing with
lower mass, complexity and higher stability.

Dart System consists of two subsystem:

one launcher
four gliders.

Launcher

Functions of Launcher

Launcher’s Functions:

NO.1 Accurately launch a glider drone in different high speed(16m/s).
NO.2 Automatically reload glider drones.

After 7 iterations, the launcher has a notable perform.

Accelerator

Ingeniously apply the meshing between double-sided synchronous belt and connecting plate to convert the accurate circular motion of motors into linear motion. It firstly store energy in the high-inertial subsystem and reach a high but stable speed, and then send the plate with a rack accommodating a glider to mesh with the outer teeth of the belt.

Decelerate and Deadlock Mechanism

The rack attaching to the connecting plate is decelerated with dampening springs and locked with a rachet mechanism once the drone is ejected out; rack is finally released with a linear actuator unlocking mechanism.

Reloading Mechanism

A curved-rail-guided system that relocates drones onto launching rack using one single actuator.

DIY designed Yaw Bearing

Self-designed and manufactured a ring bearing for launcher’s yaw axis. Minimizes backlash and off-axis movements while reducing overall system cost compared to industrial counterparts.

Glider

Drone with 3D Vector-actuator

Abandonded for its excessive flexibility.

Fixed Wing UAV

This glider performed an ideal result and was delivered to my teammates.

Functions of Autonomous Robot

Autonomously search and shoot the rivals' armors in the arena. Technologies relative to algorithms include VIO_Slam(Vins-Mono), dynamic object detection, posture calculating, decision making and route planning.

I am in charge of VIO_SLAM(visual-inertial odomerty), mechanical design(a chassis with Camera, IMU and PC) and project management.

VIO_SLAM System (Vins-Mono)

Vins-Mono system includes five main modules. They are initialization, VIO(visual-inertial Odometry), loop detection, relocalization and global optimization. I have written a summary about this system in my CSDN blog.

Shooting rival’s armor

Shooting static rival’s armor

Shooting dynamic rival’s armor

Shooting rival’s armor

Rotating without moving

Rotating with moving

Excellent performance of mechanism

Chassis suspension

Flying across a slope

Path Planning

Path planning simulator

Obstacle avoiding demo

Some interesting course projects are showed in this page.

Rebar Processing Euqipment

The rebar processing euqipment consisting of four moudles is used to process volumed rebar into retiform rebar.

Four moudles:

NO.1 Straightening mechanism.
NO.2 Cutter mechanism.
NO.3 Transfering mechanism.
NO.4 Welding mechanism.

Straightening Mechanism

Because rebar is usually tied up in a roll, firstly we need to straighten the rebar. the rebar will accross the space between the up two idler wheels and the down three ones. And the gap between them can be justified by the motor to fit different sizes of rebar.

Cutter Mechanism

We use cutter mechanism to cut the straight rebar into ones in specific length.

Transfering Mechanism

After every straight rebar fall into the groove in the roller, we need to strongly hold it until it's transfered to the welding plate below the device. Therefore I designed a mechanical arm which can hold heavy rebar with only a mini-driver.