Robotics Engineering Projects (2023–2025)

One-line

An engineering series centered on desktop-scale mobile manipulation systems, integrating end-effectors, arm platforms, and wheeled bases.
Through simulation and control validation, the projects establish an iterative engineering loop from CAD to prototype to verification.

Info

• Time / Location: 2023–2025 · Beijing / Wuxi
• Focus: Mobile manipulation · mechanical system integration · end-effector development
• Scope: End-effector → Arm platform → Mobile base (modular system chain)
• Role: System planning · structural design & assembly · prototyping · simulation validation · control interface preparation & testing
• Status: Multi-stage prototypes completed (Series)

Toolchain

Mechanical Design
SolidWorks · Fusion 360 · Rhino

Simulation & Control
MuJoCo · ROS2 · Kinematic modeling · PID control

Fabrication
3D printing · structural assembly · rapid iteration testing

System Capabilities
Modular architecture · structural optimization · mechanical–control integration

Keywords: Robotics · Mobile Manipulation · Mechanical Integration · End-effector · Simulation · Prototype Iteration

Goal & Challenge

The series targets desktop-scale mobile manipulation: integrating a mobile base, robotic arm, and end-effector into a maintainable and extensible operational platform under constraints of size and cost.

The core challenge lies in the strong coupling between mechanical design and control requirements.
Trade-offs must be made among load capacity, stiffness, contact stability, cable routing, and maintainability.
Simulation and rapid prototyping are used to reduce iteration cost and de-risk structural decisions.

System — Platform Architecture

The projects adopt a platform-based + modular architecture, forming a system chain from grasping to full-body integration:

Mobile Base

Desktop-scale wheeled platform focusing on structural stability, load optimization, and maintainability.

Arm Platform

Modular mechanical arm with standardized interfaces, supporting educational experiments and interchangeable attachments.

End-effector

Track-driven gripper design improving contact adaptability and grasp stability.

Simulation-to-Prototype Loop

CAD → 3D printing → assembly → MuJoCo contact & motion validation → ROS2 interface testing.

This loop establishes a repeatable engineering rhythm across all builds.

Validation & Current Builds

01 — Wheelarmbot | Desktop Mobile Manipulation Platform

A lightweight integrated wheeled base + robotic arm system for coordinated mobility and manipulation tasks.
Engineering focus includes structural load distribution, arm–base coupling, whole-body coordination logic, and desktop-scale stability.

Tools: SolidWorks · MuJoCo · ROS2

02 — Robotic Arm Platform & Derivative Modules

A modular arm-centered platform emphasizing extensibility and interface standardization.
Includes replaceable 3D-printed attachments, standardized mounting structures, and remote mapping experiments.

Tools: Fusion 360 · SolidWorks · Rhino · ROS2

03 — Track-Controlled Hand-Operated Gripper

A track-driven end-effector designed to enhance grasp stability and surface adaptability.
Focus areas include transmission mechanism design, flexible structural optimization, force path routing, and modular mounting interface.

Tools: SolidWorks · 3D Printing · MuJoCo (contact modeling)

Next — Design Targets

Platform Interfaces
Further unify electrical and mechanical interface standards to improve module interchange efficiency.

Control & Learning Pipeline
Refine ROS2 control architecture and simulation parameter calibration to support reinforcement learning and policy training.

Grasp Reliability
Enhance contact modeling and force validation to improve reproducibility in real tasks.

Maintainability
Optimize cable routing, structural disassembly, and quick-replacement mechanisms to establish an engineering-grade iteration rhythm.

Credits

Series · 2023–2025 · Beijing / Wuxi