Kinematic Planning
CAD Modeling
Manufacturing & Assembling
Testing and Optimization

Autonomous linkage Mechanism

The Motorized Linkage Mechanism was a custom-designed and fabricated system developed to achieve precise, repeatable motion through an integrated mechanical and control solution. The objective of the project was to design and optimize a compact mechanism capable of producing smooth, controlled motion while maintaining reliability across repeated operating cycles. The project encompassed the full engineering process, including kinematic planning, CAD modeling, prototyping, manufacturing, electronics integration, and system testing. I was responsible for the kinematic design, some CAD modeling, prototyping, system testing, and I led the manufacturing to improve the mechanism's compactness, motion efficiency, and manufacturability. I also implemented the sensing and actuation hardware and helped develop the control system used to drive the mechanism. This included iterative tuning and performance testing to achieve stable and repeatable motion behavior. Through successive design and control refinements, the final system demonstrated consistent performance and smooth operation, showcasing the integration of mechanical design, electronics, and motion control.
Home
Questions?
hero-image

Zahin H Ritee

Project Timeline

Sep 2024 - Dec-2024

HighlightS

  • Led kinematic planning and detailed linkage design in SolidWorks, ensuring proper motion and mechanical advantage.
  • Performed motor analysis to select actuators with appropriate torque, speed, and efficiency for the system.
  • Created CAM toolpaths in Fusion 360 and manufactured components using 3D printing and water jetting.
  • Programmed and implemented PID control in C++, integrating wiring, sensors, signal processing, and actuation tuning for optimized system performance.
  • Iteratively tested prototypes to refine design, ensure repeatability, and validate smooth motion.
  • Delivered a fully functional mechanism that met design specifications and demonstrated reliable motorized operation.
  • With a class average of 122 points, we achieved a score of 182.

SKILLS

SolidWorks (linkage modeling, kinematics)
Fusion 360 (CAM)
3D printing
Water jetting
Component assembly
C++
PID control,
Actuation tuning
Kinematic analysis
Motor selection
System integration, testing, and validation.

I performed the kinematic analysis of the mechanism to determine optimal link lengths, transmission angles, and overall linkage geometry required for smooth and efficient motion. Mathematical modeling was used to evaluate multiple configurations and identify designs that maintained favorable transmission angles throughout the motion cycle. The coupler link was specifically designed to achieve the desired output trajectory while minimizing mechanical inefficiencies and motion singularities.

1.avif


| lowinertia |
Engineering Portfolio in 15 minutes
Create Your Portfolio