US 2025/0027835 A1Published application

Low-cost robotic shake table and method for operating the same

AssigneesArizona Board of Regents on behalf of Arizona State University, University of Nebraska-Lincoln

InventorsJnaneshwar Das, Zhiang Chen, Devin Keating, Yash Shethwala, Aravind Saravanakumaran, J. Ramón Arrowsmith, Christine Wittich

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Abstract

A low-cost robotic shake table and method for operating the same is disclosed. The shake table includes a chassis having a pedestal slidably coupled to two linear shafts. The shake table also includes a motion system having a stepper motor, a transmission, and a motor driver, with the stepper motor coupled to the pedestal through the transmission. The shake table includes a perception system having a camera, an accelerometer coupled to the pedestal, and a plurality of fiducial markers coupled to the pedestal, and a microcontroller communicatively coupled to the motor driver and the perception system. The microcontroller is configured to receive an input motion data, produce a set of translational velocities based upon the input motion data, and convert the set of translational velocities into a control signal that will cause the stepper motor to move the pedestal along the linear shafts according to the translational velocities.

Claims20

Dependent claims

A method for operating a robotic shake table, comprising:

receiving a specimen placed on top of a pedestal, the pedestal slidably coupled to two linear shafts of a chassis;
receiving an input motion data at a microcontroller, the microcontroller communicatively coupled to a motion system and a perception system, wherein the motion system comprises a stepper motor, a transmission, and a motor driver communicatively coupled to a stepper motor, with the stepper motor coupled to the pedestal through the transmission, the stepper motor also fixedly coupled to the chassis and wherein the perception system comprises at least one of an accelerometer coupled to the pedestal and a camera positioned above the pedestal to view a plurality of fiducial markers affixed to the pedestal;
producing a set of translational velocities based upon the input motion data;
converting the set of translational velocities into a control signal for the motor driver;
driving the stepper motor according to the control signal to move the pedestal along the two linear shafts while the specimen is on top of the pedestal and while recording perception data from the perception system;
and
estimating a ground motion velocity of the pedestal using the perception data obtained from the perception system.

4 more elements

A robotic shake table comprising:

a chassis comprising two linear shafts and a pedestal slidably coupled to the two linear shafts;
a motion system comprising a stepper motor, a transmission, and a motor driver communicatively coupled to the stepper motor, with the stepper motor coupled to the pedestal through the transmission and the stepper motor also fixedly coupled to the chassis;
a perception system comprising a camera, an accelerometer coupled to the pedestal, and a plurality of fiducial markers coupled to the pedestal;
and
a microcontroller communicatively coupled to the motor driver and the perception system, the microcontroller comprising a processor and a memory, the processor configured to:
receive an input motion data;
produce a set of translational velocities based upon the input motion data;
and
convert the set of translational velocities into a control signal that will cause the stepper motor to move the pedestal along the two linear shafts according to the set of translational velocities when the control signal is sent to the motor driver.

6 more elements

Dependencies are inferred from the claim text.