WHAT

• Redesigned and fabricated geartrain for spring-loaded jumping mechanism​

• Designed the electronics layout for data signals and power 

• Calculated system dynamics based on equations of motion to determine motor parameters

• Selected and integrated positional sensors, power systems (converters, battery), micro-controller and actuators for the system

HOW

• Based on torque calculations, redesigned gearbox from compound spur to worm wheel geartrain in Fusion360

• Prototyped gearbox using rapid prototyping (FDM 3D Printing)

• Plotted equations of motion in MATLAB to determine co-relation between robot parameters and motor specs

RESULTS

• Increased gear ratio by 10x by integrating worm wheel​

• ​Robot demonstrated a maximum jump range of 159mm, with a mass of 1.05 kg