The Underwater Robotics Team

From 2019-2022 I worked on various projects for The Underwater Robotics Team at Ohio State:

FDM 3D Printer

• My favorite project for UWRT was contributing to the design a large FDM 3D printer for prototyping large structures. The project was never completed as our budget was cut, but I am happy with the overall design and components I machined.
• Key features I worked on:

◦ Kinematic bed mounting for improved leveling performance
◦ Fully parametric Z axis and frame size
◦ Ball screw selection and assembly for Z axis

The semi-completed printer frame and Z axis measured 52 x 52 x 104cm and sat level within ~1mm on a tooling plate. Not bad for T slot extrusion!


Side by side of printer CAD with and without side covers and electronics enclosure.


Here is a photo of the bed that was completed and a closeup of the design in CAD.

Actuator Case

• In 2021, I lead a sub-team developing a watertight enclosure for hobby servos. I learned a lot about static and dynamic seals, and expanded my project management skills.

• Key Features:
◦ Enclosure preformed under load at depth
◦ Reduced actuator cost by 30% from the baseline of a comparable COTS option
◦ Provided the basis for future iterations produced by UWRT

Coil Launcher

• I manufactured and tested a coil based projectile launcher for the team in 2022. I gained experience working with 3D printed resin molds and designing solenoid coils.

Outreach ROV

• In 2019, I was the mechanical lead for a sub-team that produced a simple ROV used in public outreach events. Many components could be purchased at a hardware store with the total electrical and mechanical BOM costing less than $150.