alan yin
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Rocker-Bogie Swerve-Drive Chassis

[One or two sentences: what the chassis was for, and what the suspension and swerve drive do.]

Year
Jun – Aug 2024
Status
Built and tested
Context
Mechanical design internship, Dr Robot Inc.
Role
Mechanical design, simulation, wiring and integration
Stack
SolidWorks · Unity · NVIDIA Jetson Nano
The swerve chassis from above: four orange 3D-printed swerve modules with coilover springs, linked by an aluminium frame with wiring routed through the centre.
[The assembled chassis — say what the reader is looking at.]

What it does

[What the suspension and the swerve drive each do, and why they go together.]

[What it was for, and what it had to handle.]

The swerve module

A single swerve module disassembled on a bench: the orange 3D-printed steering housing with its ring gear, a coilover spring and damper, the drive linkage, and the wheel with its blue mounting fork, beside a steel rule.
[One module, apart — name the parts that matter and what each one does.]

[What made the module hard to package, and how you resolved it.]

Simulate first, then build

[What you exercised in Unity before anything was machined.]

[Caption the demo — what the suspension is doing here.]

[What simulation caught before it cost you a part.]

What I built

  • [The suspension design.]
  • [The Unity simulation.]
  • [The physical prototype.]
  • [The electronics integration.]

Technical overview

SuspensionRocker-bogie with coilover spring elements
DriveSwerve — independently steered wheels
SimulationUnity, with swerve-drive odometry
ComputeNVIDIA Jetson Nano
SensingCamera, for navigation and computer vision
CADSolidWorks

Limitations and what comes next

  • [Terrain or loads it could not handle.]
  • [A gap between simulation and the real thing.]
  • [What the next revision would change.]