Robot Puncher: Optimizing for Impact Force by Investigating Sequential Joint Activation
(Kinematic Diagram Courtesy of Shannen Kizilski, [email protected])
The robot puncher project has two components, a computational experiment that is programmed in matlab, and a physical experiment that attempts to perform and cross-validate the simulation results.
Matlab was used to derive the equations of motions symbolically, simulate a robotic puncher as well as optimize for activation/deactivation timing of each robot joint to maximize impact force.
A hardware implementation was made first using Solidworks to create a CAD model. Then, major components were made using a 3D printer. A belt and pulley drive was used to remove distal mass from the arm links.
This project was a joint effort with: Jack Clark, Issac Fenta, and Shannen Kizilski
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