In Collaboration with Tristan Martello, Shiv Khanna, and Ben Kraft and Amazon Robotics

Goals

• Develop a mechanism that can stamp a custom marker on a floor
• Combat potential dust and debris that can affect the marking
• Easy recharge and refill system
• Rollable and movable platform

Preview of final prototype

Overview of Construction and Timeline

Brainstorming Phase

Some of the first questions was what to use as a substance to mark the floor

Figure 1: Pros of different subastances.

• Figure 2: Cons of different substances.

Figure 3: Sketches of some initial designs.

Figure 4

The stamping ink wheel ended up as the best option, the initial design featured three individually motorized wheels on a carriage that could lower all of them simultaneously.

• We later simplified system with one wheel that is allowed to rotate, move along its axis and press against the ground when carriage lowers.
• Initial plans with a moveable ink pad, turned into a fixed pad at a bottom corner where the wheel can move to and press to refill.

First Prototype

Figure 5: First full prototype

Initial prototype the goal was to achieve motion in all three axis.

Components

• Raspberry Pi
• 4 Stepper motors
• Breadboard & wiring
• T-slot Aluminum rail and Connectors
• 3D printed carriage holder
• Keyed slot driveshaft
• Set of numerical stamps

Main Challenges