Fermilab
I worked at Fermilab over the summer of 2024 with a team of other interns, designing a robotic arm to aid in the cleaning of hard-to-reach spaces, primarily radio frequency cavities.
Project Summary
The majority of my contributions to this project were done in code, primarily using Java and Arduino (C++). My group was tasked with making a GUI to interface with the arm, as well as pre-programmed movements that would correspond to different buttons. For example, there would be a button for moving further into the cavity either 1mm, 10mm, or 100mm, similar to how 3D printers and CNC routers allow such user control. There were also buttons for pre-planned cleaning "sequences" involving spinning up the toolhead and having it move around a certain area.
Unfortunately, the mechanical aspect of the project was not complete by the end of our internship, and thus we did not get to test our code completely, but before leaving we were able to confirm that the stepper motors we used were moving the correct distances for the intended movements.
Skills & Tools
- Java (Processing)
- Arduino
- Wiring
- Graphic design
- Scope management
Code & Electronics
The photos above show snippets of the code we wrote as well as the stepper motors, stepper drivers, and Arduino we used.
Future Improvements
- Testing our code on the final machine and making any appropriate changes
- Adding supported paths/sequences for more toolheads
- Finishing a more complex and functional GUI