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PushUp Assist Bot
2018
As part of an advanced mechanisms synthesis class, my teammate and I conceived of and simulated a pushup assist bot that was partially gravity balanced by a spring. This allowed us to size smaller motors that would help a person partially push up from the motion.
I started by drawing a complete free body diagram of the system, so we could calculate the internal forces and find the torque required by the motor to push the person and robot up.
Next, I simulated the potential energy of the linkage versus the spring in motion. We ended up using three springs to ensure that the four bar linkage design was fully controllable by one motor. The three springs ensured none of the linkages would collapse under their own weight.
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