Locking tool turret CAD, designed in SolidWorks. Additional photos and descriptions are avaliable in my portfolio and videos (buttons above). There is a mount for a perforation tool, dremel tool, and cutting tool.

Locking tool turret assembly. Parts were printed with Ultimaker Cura on an Ender V1 3D printer with PLA. Prototype uses 2 bipolar stepper motors (NEMA 17), 2 microstep drivers (0.5-4A 9-40V DC), and an arduino uno R3.

Fractal vise end effector CAD, designed in SolidWorks. This took existing fractal vise designs and replaced traditional dovetail connections with slot-and-pin connections. This allowed it to be printed and assembled much quicker and faster. For cost and time reasons, a standard hex bolt was used as a lead screw.

Fractal vise end effector assembly. Parts were printed with Ultimaker Cura on an Ender V1 3D printer with PLA. Prototype uses 1 bipolar stepper motor (NEMA 17), 1 microstep drivers(0.5-4A 9-40V DC), and an arduino uno R3.

Linear Geneva mechanism CAD, designed on solidworks. This mechanism takes continuous linear motion and converts it to intermittent rotational motion, locking every 90 degrees. This idea involved having the tool turret be completely mechanical, and having the operating robot arm move the slider in order to change the tool, which would cut down on tool costs with a sacrifice of production speed.

Linear Geneva mechanism assembly. In this photo, a perferating tool and cutting tool is mounted on to two of the mouonting sides.