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Sandeep Mistry
Gokul Suryamurthy

(Sep 2018 - Dec 2018)

Design Problem Statement:

Existing Gimbal system in market were bulky and huge in size to bear 1 - 4 Kg of payload  which led to novel refinement of Gimbal design being compact,reliable, robust and required strength to bear LIDAR and camera  payload weighing up to 4 Kg.

PROTOTYPE 1 FOR UAV  

PROTOTYPE 2 FOR UGV  

final_opt_assemb.JPG

Individual contribution:

    Prototype 1:

  • Executed sheet metal design of pitch shoulder with 45 degree bends at two point.

  • Created flat pattern out of Al 6061 and implemented brake press for bending Al sheet metal.

  • Tested the prototype by manual balancing 1.5 Kg of payload and aligning it with the CG of system.

    Prototype 2:

  • Designed pitch platform for 3 Kg of payload by appropriate material selection using Al 6061 and redesigned it through topology optimization.

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   I fabricated both the prototypes through Brake press, CNC and Knee mill.

3D model: Prototype 1 & 2

Gimbal_prototype_2_OG_exploded.PNG
Gimbal_prototype_2_OG.PNG

Fabrication: Prototype 1 & 2:

OG_pitchpltfrm.jpg
optimsed_pitchpltfrm.JPG

Balancing & testing Prototype 1: 

Balanced Prototype 1

FEA Analysis & topology Optimization:

123g_pitchpltfrm_uniformred_deformation.

Future work:

  • Implementing Flex and Rover Hammer Impact test to detect structural rigidity with FEA results and modal frequency to avoid structural failure at resonance respectively.

  • Integrating the optimised Gimbal assembly in UAV and UGV and testing the data accuracy captured by LIDAR and multiple cameras in 1m x 1m span range, vertical & 100 % slope inclination environments to succeed in Physical testing category of DARPA's Subterranean challenge. 

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