Samsung BotChef v.3
BotChef was a project at the Think Tank Team focused on prototyping robotic technologies and demonstrating what they could do in the home of a future consumer. The third and final version of the arm was the result of many lessons learned from the previous iterations. I developed many improvements and new systems implemented in this iteration including changes to the ID, structures, and actuators.
Design
After successfully demonstrating the BotChef v.2 arm at IFA 2019 and CES 2020. The team began developing the v.3 arm to address shortcomings we experienced with the v.2 design and answer questions about what a future BotChef product may look like. Starting with the form factor the two-arm configuration was eliminated to save cost, instead, we designed a single arm affixed to an under-cabinet linear rail. The team also made significant improvements to the mechanics and electronics for better control.
CMF
The CMF of the v.2 arm was very minimal, being almost completely white. For the v.3 design we revisited the CMF adopting a metallic palette, more in line with current kitchen appliances.
Linear Rail
The linear rail, which I designed, was an important addition to the third-generation BotChef arm. The intent was to give a single arm a working envelope at least as large as the previous dual arm design. The rail was designed to be easily removable from the cabinets and as a place to mount the computer vision sensors.
Cycloidal Gearbox
During the BotChef project, I developed a series of cycloidal gearbox-based actuators for use in the arm. In the v.3 arm, two of these gearbox variants were used for the first and second rotary joint. A further description of that work can be found here.