Robotic End Effector for Combat Casualty Care

Key Engineering Contributions

1. 01
   Mechanical Design & Prototyping: Iterated the mechanical assembly in SolidWorks, optimizing the multi-jointed design for weight and functional grip. Utilized additive manufacturing to produce 3D-printed prototypes for rapid hardware testing and design validation.
2. 02
   Hardware & Systems Integration: Configured the physical hardware architecture, bridging high-torque Dynamixel servo motors with an OpenCR microcontroller. Establishing the foundational motor control using while supporting the system's broader ROS 2 integration for high-level communication.

Visual Documentation

Figure 1

01.png

Latest prototype of the 3D-printed end-effector with Dynamixel servo motors and an OpenCR microcontroller.

Figure 2

02.png

Earlier prototype iteration of the 3D-printed end-effector showing the actuation linkage and control hardware integration.