Inari Electric - Robot Quadruped

Update - Apr 2024

Latest in the development of the robot quadruped!

Moved to aerospace grade sandwich panel construction and performed major structural redesigns for the robot frame.

Significantly improved actuator, raising maximum torque from 36.7Nm (v5) to 42.5Nm (v7) whilst reducing weight to 1.16kg.

Contents (clickable links)

• Robot Frame (v5) 

• Actuator (v7)

• Control+Comms Electronics (v2)

Update - Nov 2022

Shifting over to "standard" actuator design with a planetary gearbox and on-actuator PCB driver ESC. This significantly improved lifetime of the actuator and maximum torque.

Designed a structurally sound robot body with aluminium sheet metal, fixing many of the rigidity issues in the first body frame.

Contents (clickable links)

• Robot Frame (v3) 

• Actuator (v5)

• Electronics (v2)

Update - Jun 2020

The beginning of the project! Fully written up.

Starts with sizing of actuator requirements and details the design of a cycloid gear reduction as well as the FOC electronics and firmware.

Contents (clickable links)

• Robot Frame (v2) 

• Actuator (v1)

• Electronics (v1)

• Comms Electronics (v1)

This project is about my experience upgrading the cheapo Chinese import CNC "Mills". 

This was done alongside the robot dog project until I got access to a HAAS minimill at my uni's hackspace in my second year.

Contents (clickable links)

• 6040 CNC Upgrades

SMT32 Cansat

Details my work as a first year electronics lead in the 2020-21 European Space Agency's CanSat Competition with ICSS. (Imperial College Space Society).

This competition allowed me to expand my knowledge on topics I had previously used in the UKRoC competition.

Contents (clickable links)

• STM32 Cansat

UKRoC Rocketry Competition

In my lower sixth (high school), I lead a team to build a small rocket for the UKRoC competition.

Developed the main systems of the rocket including systems, structure, recovery, avionics, firmware and ground systems.

Contents (clickable links)

• UKRoC Rocketry Competition

For my high school ILA (independent learning assignment) during lower sixth, I chose to develop and build a miniature jet engine.

Includes full report of how this was achieved and test run results.

Contents (clickable links)

• Miniature Jet Engine

Designed and made an ultrasonic knife multi-tool for my high school A-levels. 

The goal was to make a product to ease sanding and detailing 3D prints.

Contents (clickable links)

• Ultrasonic Knife Multi-Tool

Model of the University of Surrey's chemical plant made more "eye-catching" as an open day demonstration model.

Made during my A-levels (during highschool) and served as my introduction to Arduino and 3D printing.

Contents (clickable links)

• Robot Chemical Reactor