SAHAN GUNAWARDANA
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Hydraulic Animatronic Manipulator
Project type
Mechanical Design
Date
December 2023
Location
Intelligent Systems Laboratory
Project Contributions
-Designed kinematic representation of a manipulator that would effectively mimic the movement of a moose
- Detail design of the hydraulic powered manipulator
-Designed and conducted Simulink Simulations for workspace analysis, forward kinematics, inverse kinematics and hydraulic power plot.
-Created P&ID diagrams for a hydraulic power pack needed to power the manipulator.
-Designed and built a custom hydraulic powerpack based on P& ID. System comprised of 5 proportional valves, valve block, cooler, active cooler, relief valve, pump, AC motor and a custom pump-valve block.
-Designed and built a custom industrial control panel for safe and reliable operation of the hydraulic system. The panel uses a PLC for monitoring manipulator state (linear encoder feedback), fluid temperature, manifold pressure, and PID control of piston extension. Trajectory commands are provided by a micro-controller communicating to the PLC via Modbus
- Created ladder logic for PLC. Created custom HMI interface for status monitoring, diagnostics and manual operations of the manipulator
-Industrial Automation
A hydraulically actuated manipulator created to replicate the natural motion of a moose head. Designed and developed for Dr. Robert Hengeveld, Professor of Visual Arts at the MUN Grenfell Campus School of Fine Arts.
The project integrates principles from industrial automation, mechanical engineering, control systems, and electrical design.
