New type of Mechanical Reducer which competes with more traditional Cycloidal, planetary, and strain wave gearboxes at a much lower cost.

This is an experimental drivetrain capable of indepenent movement in x,y, as well as rotation

I was the CAD lead for this subsystem of our 2023 robot. The most difficult engineering challenge I faced, this climb system lifts 150 pounds of robot in less than 2 two seconds. 

A project to find the optimal 3d-printed wheel.

FRC Robotic Wrist (2023) 

Using two massive carbon fiber nylon herringbone gears, this wrist is capable of speed and precision. I was CAD lead for this wrist. 

Undergoing three major iterations, this machine takes on the unique challenge of manipulating toilet paper.