Desktop Rapid Prototyping Millirobots Images

Our current focus in this project is on automating the construction of the mechanism's structure and the attachment of strain gages (as an example of a sensor).  Below are some images of what we have done in these two areas.

3D Structure Construction

Construction of a 1 DOF wrist

assembly of a 1 DOF wrist

Rapid Prototyping of the Wrist Design

evolution of the wrist design

Four Bar Mechanism with Carbon Fiber Elements

Construction of four bar

Strain Gage Attachment

Manipulation and Attachment of Strain Gages

strain gage attachment
                                                                                                  (Strain gages are circled.)

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