Featured work

Swerve Drive Platform

A modular omnidirectional robotics platform combining custom drivetrain mechanics, structural analysis, and integrated electronics.

In progress

Swerve Drive Platform (V2)

A sized-down, actually manufacturable version of V1.

Key specifications

1 kg

Weight

54%

Manufacturing cost reduction

3.2 m/s

Top Speed (No-Load)

Further details +
In progress — details coming soon.
V1

Swerve Drive Platform (V1)

Souped-up autonomous vacuum robot using a swerve drive platform, with an aluminium chassis.

Key specifications

5.07 m/s

Max Speed (No-Load)

ROS2

Control Framework

Modular

Architecture Design

Completed frame CAD
Completed frame CAD 1 Completed frame CAD 2 Completed frame CAD 3
Further details +
Frame CAD design

Frame CAD Design

The swerve module frame was designed in SolidWorks around a custom drivetrain architecture incorporating bevel gears, spur gears, and belt drives to achieve a 5.07 m/s no-load speed. The design prioritizes stiffness, modularity, and compact packaging while preserving accessibility for future mechanical upgrades.

Finite element analysis

Finite Element Analysis

FEA was used to validate load paths and ensure the frame could withstand operational forces. SolidWorks Simulation identified major structural issues early, while higher-accuracy simulations in ANSYS evaluated precise stress distributions and impact loading during crash scenarios.

Electronics and control

Electronics & Control

Designed modular control electronics in KiCad, including motor drivers, sensors, and microcontrollers. Wiring layout supports easy upgrades and ensures reliability for high-speed omnidirectional motion.

ROS2 control architecture

ROS2 Control Architecture

Implemented high-level control on a Raspberry Pi using ROS2, handling motion profiling, swerve kinematics, and subsystem communication. Low-level motor control ran on ESP32 to achieve stable omnidirectional motion at speeds up to 5 m/s.