Assembly

The drilling system is made up all of the mounting hardware along with the vertical actuation subsystem and drilling subsystem. All mounting hardware was designed by myself and machined at the adjacent laboratory from where I worked. The vertical actuation subsystem is made up of off the shelf components with modifications done at the lab. The drilling subsystem is made up of off the shelf components, 3D printed casings, and a custom made metal plate.

The mounting hardware was made from 6061 Aluminum and machined by handheld mill, hand drill, and belt sanding. The system is made up of a base plate which contains the most complex part geometry, angle aluminum adapters which are 3D printed, large angled aluminum columns, and corner brackets for interfacing with the linear actuation system's 80/20 rail via screws.

This subsystem is made up of a stepper motor that drives a threaded rod. A threaded 'track' is constrained by a stainless steel sliding rail and threaded rod, and is moved by the rotation of the stepper motor (as its threads match those of the moving threaded rod). The sliding rail is supported by 80/20 rail. Lastly, the stepper motor is driven by power from the Jackal robot, an Arduino UNO, and a stepper driver.

Made up of a Ryobi handheld drill taken out of its plastic casing, a custom 3D printed plastic casing, and a 3 foot long auger. The motor of the drill is driven by a L298N motor controller, Arduino nano, and 24V Lithium Ion battery.