Senior Design Team 515
Senior Design Team 515
Educational CVT Robot
Continuously Variable Transmissions (CVTs) in traditional applications allow continuous power transmission. Similarly, CVTs in passive cobots allow for fluid adjustments in movement in response to human touch. Passive cobots are human symbiotic robots that guide and constrain human motion in one, two, or three dimensions. Our robot is an adaptation of this concept. The cylinder acts as a one-dimensional boundary for guided human motion. However, instead of assisting human motion, where the device would incorporate human input it treats this location as an output, or "end-effector". And instead of human input, servo motors are responsible for steering the wheels. Through these modifications, our robot serves as an educational display for the smooth and accurate motion CVTs in haptic robotics have to offer.
Accurate
The device produces accurate desired output motion at the end effector.
Autonomous
The device moves independently and does not require continuous control once a menu item is selected.
Responsive
The device responds quickly once an option is selected.
Engaging
The drawing guessing game facilitates involvement and education of CVTs in robotics.
A small-scale prototype of the design
A CAD assembly of the design
The current assembly device at creation of the website
An exploded view of the carriage design with a servo motor in navy
An exploded view of the wheel design featuring a spring-loaded mechanism
The CAD image of the assembled wheel and carriage design
A simulation of the device drawing a circle
A plot of the desired left wheel position vs. the actual position drawing a circle
A plot of the desired right wheel position vs. the actual position drawing a circle
A simulation of the device drawing a square
A plot of the desired left wheel position vs. the actual position drawing a square
A plot of the desired right wheel position vs. the actual position drawing a square
A simulation of the device drawing a triangle
A plot of the desired left wheel position vs. the actual position drawing a triangle
A plot of the desired right wheel position vs. the actual position drawing a triangle
Dynamics Engineer
Kemani Harris is a senior Mechanical Engineering student graduating in 2025, with interests in dynamics, kinematics, and consulting. He aims to apply his technical skills in a consulting role within the engineering industry.
Controls Engineer
Aaron is a senior mechanical engineering student graduating with the class of 2025, and has interest in dynamics and control systems. He plans on working in the controls and automation industry to gain relevant work experience with robotics.
Design Engineer
Jacob is a senior mechanical engineering student with a passion for aerospace systems integration and design engineering. His ultimate career goal is to be a licensed professional engineer in the aerospace industry.
Mechatronics Engineer
Aliya is a senior mechanical engineering student. She plans to continue gaining hands-on experience and advancing her education in robotics. Aliya aims to further her research and professional development at NASA Langley Research Center.
Materials Engineer
Cade is a senior mechanical engineering student graduating with the class off 2025. He will be starting a PhD in Material Science and Engineering at Florida State University in 2026 with a focus on the microstructural characterization of superconductors.
Academic Advisor
Dr. McConomy is the Senior Design coordinator at the FAMU-FSU College of Engineering and specializes in automotive and systems engineering.
Sponsor
Dr. Moore is an Associate Professor at the FAMU-FSU College of Engineering and has extensive research in human/robotic interaction.
