Aaron Aviles Portfolio

Yonder Dynamics - Rover Project Team

Yonder Dynamics Site

ARM 3.0

My work:
Led end-to-end engineering of ARM 3.0, designing a modular motor module architecture enabling scalable assembly, serviceability, and future redesign. Initialized the project, defined design requirements, and developed core concepts for the rotating base, shoulder, elbow, and wrist (pitch) while overseeing remaining subsystems. Designed for modularity with removable tube stock allowing configurable length and material.

ARM 3.0 is a 6-axis robotic arm including linear slide base, rotating base, shoulder, elbow, wrist pitch, and wrist roll (in development), supporting a 5 kg payload with 2.5 factor of safety. Also developed the perception mast system architecture, providing stable camera reference for automation and simulation, and initialized integration of the E-Chain cable management system.

Arm 3.0

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Base

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Rotating base utilizing a COTS ball bearing turntable rated for 1000 lb., preloaded with a 0.5" dead center shaft securing the 0.25" top and bottom plates. Driven by a CM-AKE60 motor with a 6.75:1 compound gear reduction, delivering 34 Nm rated torque. Integrates a custom E-Chain cable management system enabling continuous 360° rotation without wire tangling.

Base - Onshape

Elbow/Shoulder/Wrist

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Shoulder, elbow, and wrist utilize Harmonic Drive 17-100-118879-11 (100:1) reducers with scaled T-Motor outrunners, rated for 200 Nm (shoulder), 120 Nm (elbow), and 50 Nm (wrist). Each module integrates an ODrive motor controller and custom fuse boards. Contract-manufactured modular motor modules with plastic motor housings enable rapid motor iteration and replacement. Structure uses 6061 aluminum tube stock (1/8" first link, 1/16" second link) and is rated for a 5 kg payload with 2.5 factor of safety.