{"id":109972,"date":"2023-02-28T14:09:17","date_gmt":"2023-02-28T18:09:17","guid":{"rendered":"https:\/\/www.hajim.rochester.edu\/senior-design-day\/?p=109972"},"modified":"2024-03-01T16:53:15","modified_gmt":"2024-03-01T20:53:15","slug":"omnidirectional-modular-robot","status":"publish","type":"post","link":"https:\/\/www.hajim.rochester.edu\/senior-design-day\/omnidirectional-modular-robot\/","title":{"rendered":"Omnidirectional Modular Robot"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">Team<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Francesca Daszak<\/li>\n\n\n\n<li>William Most<\/li>\n\n\n\n<li>Kai Avni <\/li>\n\n\n\n<li>Lianming Hu  <\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Mentor<\/h2>\n\n\n\n<p>Thomas M. Howard, PhD, Electrical and Computer Engineering, UR<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Abstract<\/h2>\n\n\n\n<p>As a team, we were tasked with the creation of a robot for the University of Rochester ECE course 216. To achieve this, we have designed a fully modular robot where each wheel is capable of full 360-degree motion as well as translational motion, independent of the other wheels as it can be attached and detached at any time. This allows for more direct control while programming, which is the purpose of these robots, as well as a larger range of motion so it can go through more complex passages. We created this using primarily 3D printed parts to ensure relatively easy assembly for many robots, and each wheel module consists of a few large frames, one that will rotate with the wheel and the rest that will provide structural stability and house motors.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"540\" height=\"683\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/WheelModule.png\" alt=\"\" class=\"wp-image-134882\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/WheelModule.png 540w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/WheelModule-237x300.png 237w\" sizes=\"auto, (max-width: 540px) 100vw, 540px\" \/><figcaption class=\"wp-element-caption\">CAD model of an individual wheel module, the darker blue represents the rotational frame and the lighter blue is stationary. The gear system allows the frame and wheel to rotate independently.<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"480\" style=\"aspect-ratio: 854 \/ 480;\" width=\"854\" controls src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/VID_20230421_2256417172.mp4\"><\/video><figcaption class=\"wp-element-caption\">Video demonstrating a wheel module&#8217;s independent steering and wheel rotation capabilities.<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"763\" height=\"1024\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot-E-Block-diagram-763x1024.jpeg\" alt=\"\" class=\"wp-image-138242\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot-E-Block-diagram-763x1024.jpeg 763w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot-E-Block-diagram-223x300.jpeg 223w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot-E-Block-diagram-768x1031.jpeg 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot-E-Block-diagram-1144x1536.jpeg 1144w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot-E-Block-diagram-1525x2048.jpeg 1525w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot-E-Block-diagram-1200x1611.jpeg 1200w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot-E-Block-diagram.jpeg 1810w\" sizes=\"auto, (max-width: 763px) 100vw, 763px\" \/><figcaption class=\"wp-element-caption\">Electrical block diagram for one wheel module.<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot_DesignDay-1024x768.jpg\" alt=\"\" class=\"wp-image-138312\" srcset=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot_DesignDay-1024x768.jpg 1024w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot_DesignDay-300x225.jpg 300w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot_DesignDay-768x576.jpg 768w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot_DesignDay-1536x1152.jpg 1536w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot_DesignDay-2048x1536.jpg 2048w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot_DesignDay-1200x900.jpg 1200w, https:\/\/www.hajim.rochester.edu\/senior-design-day\/wp-content\/uploads\/2023\/04\/Robot_DesignDay-1980x1485.jpg 1980w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\">Project poster summarizing the project&#8217;s objectives, process, and results.<\/figcaption><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>This project&#8217;s goal was to develop an easily reproducible robot for use in ECE216 for students to learn about motor controllers. The robot was required to be modular, so each wheel has its own module that can be controlled independently and can move\/rotate in any direction.<\/p>\n","protected":false},"author":6242,"featured_media":134742,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_coblocks_attr":"","_coblocks_dimensions":"","_coblocks_responsive_height":"","_coblocks_accordion_ie_support":"","_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"footnotes":""},"categories":[126,8772],"tags":[],"coauthors":[8612],"class_list":["post-109972","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-me-archive","category-robotics-archive"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.3 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Omnidirectional Modular Robot - Senior Design Day<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.hajim.rochester.edu\/senior-design-day\/omnidirectional-modular-robot\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Omnidirectional Modular Robot - Senior Design Day\" \/>\n<meta property=\"og:description\" content=\"This project&#039;s goal was to develop an easily reproducible robot for use in ECE216 for students to learn about motor controllers. 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