Senior Design Week 7: Mark Figueroa
- Senior Design
- 1 day ago
- 2 min read
This week, I finalized and printed the remaining components for the robotic arm using PETG, including the reinforced shoulder, forearm, and brush housing sections. After printing, I completed the full mechanical assembly of the arm, integrating all five servos and double-shear reinforcements at both the elbow and forearm joints. I also finished installing the dual-brush cleaning module, which includes the custom 3D-printed housing, bevel gear transmission, and dual N20 motors. Once assembled, the full arm was mounted to the chassis, and manual motion tests were performed to confirm proper joint alignment, mechanical stability, and brush system functionality. The system is now ready for full system control testing.
In addition to the hands-on assembly work, I kept working on writing the rough draft for Chapter 3 of the final report, and documented my individual contributions to the Astraeus project so far. This section focuses on the design, CAD modeling, fabrication, and mechanical integration of the main chassis, robotic arm, and brush system.
I completed the full system wiring diagram for Astraeus. This diagram outlines the electrical architecture of the entire rover, including power distribution, control signal pathways, and connections between all major subsystems. It maps out how the Raspberry Pi interfaces with the Mini Maestro servo controller, motor drivers, sensors, and peripheral components such as the robotic arm, brush system, drive motors, and AI camera. The diagram includes clear labeling of voltage levels, logic signal directions, and shared ground references, ensuring a reliable and maintainable wiring layout. This schematic will be used not only to guide the actual electrical integration of the system and will be included in the final documentation and and showcase our system schematically for other projects to replicate if they choose to expand on our work.
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