Design, Build, Test
I rely heavily on my mechanical intuition to start problem solving when handed a new set of project requirements, and then iterate through rapid prototyping techniques to create a working product. I have used SolidWorks for the last 8+ years to build the models, check assemblies, run FEA, and organize project management among several engineers. I have added Abaqus (~1yr experience) to further enhance my FEA capabilities. Other CAD programs I've used when necessary are AutoCAD, and Inventor. I primarily use MATLAB for engineering analysis purposes, and on occasion Python depending on who owns the project.
I have gathered a wide range of prototyping and fabrication skills over the years. I mostly rely on 3D printing (with a wide range of materials), molding/casting, and laser cutting to build my parts, jigs, and experimental apparatus. I also have general machining, welding, waterjet cutting, wood shop skills, for the mechanical development of my products. For hardware development, I have experience in circuit design/assembly, soldering, PCB design, Arduino programming, and sensor fusion. After experience in clubs/internships building these skills, I taught an undergraduate ME class called Introduction to Measurement Systems. I led labs teaching ME seniors practical skills in designing/building circuits and programming an Arduino to develop a series of sensor projects, culminating in a final project requiring some sensor fusion to complete the prescribed challenge.
The work for my doctoral research was exceedingly complex because not only did I have to design the robot components, but I also had to design the manufacturing method, assembly method, and the testing methods. The field of soft robotics is relatively new, and therefore most robots produced are handcrafted by the individual researcher. I was able to create the first, fully soft snake robot within 6 months of starting my doctoral program. I then spent significant effort on creating a manufacturing and assembly method to improve the replicability of the actuators as well as the capability for anyone new to the fabrication of soft robots to use my method to produce successful actuators. The fabrication of my soft actuators is the thing I am asked about most when I attend conferences to present my work.
Testing soft robots is also an open problem with unique solutions produced from researcher to researcher. For every set of experiments I wish to run, I have to design custom jigs and/or tooling to ensure I capture the intended data. I am very familiar with the OptiTrack motion capture system, and the force measurement system Mark10. I have some experience with the Instron material testing system, and the Universal Robot 5 arm. I use MATLAB to process my data.
I have gathered a wide range of prototyping and fabrication skills over the years. I mostly rely on 3D printing (with a wide range of materials), molding/casting, and laser cutting to build my parts, jigs, and experimental apparatus. I also have general machining, welding, waterjet cutting, wood shop skills, for the mechanical development of my products. For hardware development, I have experience in circuit design/assembly, soldering, PCB design, Arduino programming, and sensor fusion. After experience in clubs/internships building these skills, I taught an undergraduate ME class called Introduction to Measurement Systems. I led labs teaching ME seniors practical skills in designing/building circuits and programming an Arduino to develop a series of sensor projects, culminating in a final project requiring some sensor fusion to complete the prescribed challenge.
The work for my doctoral research was exceedingly complex because not only did I have to design the robot components, but I also had to design the manufacturing method, assembly method, and the testing methods. The field of soft robotics is relatively new, and therefore most robots produced are handcrafted by the individual researcher. I was able to create the first, fully soft snake robot within 6 months of starting my doctoral program. I then spent significant effort on creating a manufacturing and assembly method to improve the replicability of the actuators as well as the capability for anyone new to the fabrication of soft robots to use my method to produce successful actuators. The fabrication of my soft actuators is the thing I am asked about most when I attend conferences to present my work.
Testing soft robots is also an open problem with unique solutions produced from researcher to researcher. For every set of experiments I wish to run, I have to design custom jigs and/or tooling to ensure I capture the intended data. I am very familiar with the OptiTrack motion capture system, and the force measurement system Mark10. I have some experience with the Instron material testing system, and the Universal Robot 5 arm. I use MATLAB to process my data.
