Robotic Canfield Joint

[Caleb Royer]

Please complete the following information

Contact Information

University and Department: University of California at Berkeley, Mechanical Engineering 

Team Members: Chris Eskildsen, McKay Hansen, Brian Mahlstedt, Caleb Royer, Wylie Stroberg

Faculty Advisors: George Anwar, Zach Nelson

Primary Email Address: calebroyer@berkeley.edu

Primary Telephone Number (include area and country code): (209) 496-6480

Project Information

Project Title: Robotic Canfield Joint

List all parts (hardware, software, etc.) you used to design and complete your project:

Motors

Amplifiers

Arm

Base

Roll Joint

SolidWorks

Optical Encoders

LabVIEW

NI sbRIO

Describe the challenge your project is trying to solve.

To create a unique direction control device for aerospace applications, which would reduce or eliminate torsional stress on flexible members being directed by the device.

Customer Need

• Spacecraft life determined by propellant capacity
•      Current RCS convention is eight 22 Newton thrusters on opposing corners for 3 DOF control

Fulfillment

• A thruster that can direct thrust with full hemispherical motion
•        Inspired by innovative work of Tennessee Tech Associate  Professor Stephen Canfield and current development by Kirk Sorensen of the NASA Marshall Space Flight Center

Describe how you addressed the challenge through your project.

• Capable of hemispherical motion
• Uses 3 actuators to control orientation of nozzle through joint kinematics
• Position feedback using angular transducers
• HMI through LabView GUI and Joystick for automatic and manual control   Representative propulsion system for illustration of thrust direction