I designed and developed a fully functional robotics system and container mechanism for autonomous trash collection on a quadruped robot, addressing the challenges of operating in unstructured environments such as beaches, stairs, and rocky terrain.

This project was built entirely from the ground up — from initial concept generation to mechanical design, simulation, fabrication, and real-world validation.

Project Overview

The system integrates three main components: a quadruped robot (Unitree AlienGo), a robotic arm (Unitree Z1), and a custom-designed container mechanism. The goal was to enable a fully autonomous cycle of detecting, collecting, storing, and unloading trash in challenging environments.

Unlike traditional wheeled solutions, this system leverages the mobility of legged robots, requiring a completely new approach to mechanism design and system integration.

End-to-End Mechanical Design

• Defined system requirements based on payload, terrain, and autonomy constraints

• Generated multiple conceptual mechanisms and performed structured design selection

• Developed the final mechanism entirely in CAD (Siemens NX), optimizing for weight, robustness, and manufacturability

Simulation & Engineering Validation

• Performed motion simulations to analyze joint forces and optimize geometry

• Conducted FEM analysis to ensure structural integrity under real-world loads

Prototyping & Manufacturing

• Designed all components for 3D printing (SLS, ABS, AL 7075 material)

• Optimized parts for lightweight construction while maintaining durability

• Ensured ease of assembly and low-cost manufacturing

System Integration

• Integrated the mechanism with a quadruped robot and robotic arm

• Designed for center-of-mass balance and vibration resilience during locomotion

• Implemented features such as magnetic stabilization and passive reset via gravity

Experimental Validation

• Tested full operation cycle: pick → store → unload

• Verified robustness under dynamic robot motion (walking, rotations)

• Demonstrated stable performance with no failure or excessive vibration

Key Features

• Fully Autonomous Unloading – No additional actuators required

• Lightweight & Robust Design – Optimized for legged robot payload constraints

• Impact Protection Mechanism – Sacrificial components to prevent costly damage

• Vibration-Resistant System – Stable during dynamic locomotion

• Modular & Easy Assembly – Designed for rapid deployment and maintenance

• Efficient Kinematics – Simplified linear motion for reliable robotic manipulation

Outcome

The final system successfully demonstrates a novel approach to integrating mechanical design with legged robotics for environmental applications. Real-world testing confirmed seamless interaction between the robot, arm, and container, validating both the design methodology and system performance.

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