Autonomous Multi-Axis Force Compliance System

Three-Motor Delta Actuator — Self-Calibrating PD Force Compliance

Sourced for Techno Coatings deployment2025 – 2026Undergraduate / graduate–level engineering scopeCEO-commended · Self-calibrating finishing

Autonomous Multi-Axis Force Compliance System photo 1

Highlight

Impact & Results

Evaluated by Techno Coatings and being sourced for deployment across their facility
Intended for use by 100–500 employees actively in production
Step toward fully autonomous surface finishing that replaces skilled manual labor
Ability to sand and balance objects thrown onto the system without fastening, a revolutionary step the CEO commended greatly

Project Overview

Engineered a three-motor delta actuator with 3× Teensy 4.1s, 3× SimpleFOC shields, and 3× absolute encoders — one dedicated controller per motor axis (work done at undergraduate and graduate level).

Implemented automatic stall-detection homing: motors push down until contact, record mechanical zero, then lift to a calibrated hold position autonomously on every boot. Implemented a PD force-compliance controller so the system actively pushes back against external forces rather than rigidly locking, delivering consistent pressure on uneven rotating surfaces.

Autonomous Multi-Axis Force Compliance System photo 2

Key Features

Three-motor delta actuator with per-axis Teensy 4.1 + SimpleFOC + absolute encoder
Automatic stall-detection homing with mechanical zero recording on every boot
PD force-compliance control that yields under external force instead of locking rigid
Consistent pressure on uneven and rotating surfaces
Path toward sanding and balancing objects without fastening or manual adjustment