Paintball Painting Robot

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For a class called Principles of Engineering (PoE) my team built a paintball turret that could take an image, and paint it in dot art on a canvas. Starting with an image of the Olin “O”, we first break it up into a voroni diagram, and place a paint splat in the center of each section.

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With all these points, we have to figure out an efficient way to go about painting them, so we calculated a TSP path for the paintball marker to follow. The marker is mounted onto a pan/tilt mechanism, so we also need to do a conversion from its spherical coordinate system to the planar coordinate system of our canvas.

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We ran into several issues with mechanical slop in our system, mostly due to the COTS parts we bought to attach to the D shaft of out motors, which involved set screws. Here is our rather abstract rendition of the Olin “O”.

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Check out more about this on the project website.

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