The goal of this project was to design and build a 2 degree of freedom spherical wrist that included 2 mechanically commutated, permanent magnet DC actuators that could draw shapes on a wall. This was done for a third-year project course, and was completed using tools such as SolidWorks, Altium Designer, MATLAB and Simulink. The final product had a custom control system (which was initially modelled in Simulink) running on an Arduino attached to custom PCBs. The final design allowed the laser to draw a circle and a square on the wall with the motors operating at an oscillation frequency of 10 Hz.
WHAT DID I WORK ON?