Series Elastic Actuator (SEA) for Robotic Prosthetic Hand

CAD model of series elastic actuator. Over the course of several blog posts I will be documenting my progress in developing a very small series elastic actuator (SEA) for use in a robotic prosthetic hand. Traditional actuators have a motor, gearbox and encoder making them very easy to use…

Turbulent Flow Christmas Ornaments

This tutorial will introduce a method of making a Christmas ornament that is dynamic and mesmerizing to watch. By spinning a rheoscopic fluid in a clear ornament ball you will be able to see the turbulent flow of the fluid inside. "Rheoscopic" means to ability to "see fluid currents"; this…

Simulating an Inverted Pendulum with an LQR Controller (Python)

This is the part 6 in a series of blog posts devoted to the classic control problem of an inverted pendulum on a driven cart. This series is still in production (Nov. 2020) but when finished they will be structured as follows. Derivation of Simple Pendulum (Python Simulation) - linkBuilding…

Rubik's Cube with No Moving Parts

This ongoing project aims to create a Rubik's cube with no moving parts; a statement that appears contrary to the very definition of a Rubik's cube. In order to achieve this I have designed a 3D printed frame for the 6 cube faces that each hold 9 small acrylic tiles…

State Space Model of Inverted Pendulum

This is the part 4 in a series of blog posts devoted to the classic control problem of an inverted pendulum on a driven cart. This series is still in production (Nov. 2020) but when finished they will be structured as follows. Derivation of Simple Pendulum (Python Simulation) - linkBuilding…

Derivation of Rod Pendulum (Python Animation)

This is the part 1 in a series of blog posts devoted to the classic control problem of an inverted pendulum on a driven cart. This series is still in production (Nov. 2020) but when finished they will be structured as follows. Derivation of Simple Pendulum (Python Simulation) - linkBuilding…