Robot Arm

I used an iterative design process, leveraging rapid prototyping for continuous validation and improvement. Pairing generative design with SLS additive manufacturing allowed me to create a uniquely organic yet intricate morphology. This generative exoskeleton is internally supported by a carbon fiber backbone for exceptional lightweight rigidity while also facilitating elegant cable management.

I also added a 5^th DOF in the form of an articulating gripper, designing a linkage-based mechanism with jaws that remain parallel throughout their wide 60mm span for versatile gripping while incorporating sacrificial links to serve as "break points," preventing catastrophic structural failure in case of binding or stall. This possibility is further mitigated through an "incremental gripping" function coded in Python to detect and prevent prolonged stalls.

The latest iteration achieves the original goal of a complex, yet organic-looking form with an articulating gripper. Even with these additions, the new design still cuts raw material weight by nearly 20% from the previous model and sits compactly in its folded state.

Next step: putting the self-modeling algorithm to the test!