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X-EPA

APE-X

A 3R Planar robot tasked with identifying and cleaning the home workbench

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  • Hobby servos are used for actuation, driven by a servo header and an Arduino Uno

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  • In order to identify objects that need to be removed from work top, Background Subtraction is implemented through use of OpenCV.

 

  • The End Effector is designed using minimal parts, yet still providing ample range of motion for a variety of objects.

 

  • All structural parts are 3D-Printed to minimize cost and provide better accessibility for others to make on their own and tweak.

A Self-Balancing Robot made from 3D-Printed parts, 

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  • Control is achieved using a MPC  Controller with inputs given via 9-axis IMU sensor (BNO055).​

  • Motor control is achieved using  O-Drive motor controller and hall effect encoder.

  • BLDC motors used as drivers allowing for silent operation, and anti-cogging is minimized using in-built O-Drive library.

Denavit-Hartenberg Reference Diagram for APE-x, this model allows for Forward and Inverse Kinematic calculations

A Self-Balancing Robot made from 3D-Printed parts, 

  • Control is achieved using a MPC  Controller with inputs given via 9-axis IMU sensor (BNO055).

  • Motor control is achieved using  O-Drive motor controller and hall effect encoder.

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RANGE OF MOTION

END EFFECTOR MOTION

INVERTED RANGE OF MOTION

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