Angel Astacio-Echevarria

MIT Department: Mechanical Engineering

Undergraduate Institution: University of Puerto Rico, Mayaguez Campus

Faculty Mentor: Harry Asada

Research Supervisor: Abbas Shikari




My name is Angel J. Astacio. I live in Aguada, Puerto Rico. Today, I find myself studying at the University of Puerto Rico completing a double degree in mechanical and electrical engineering, as I decided to make a career in robotics and control systems. My hobbies are swimming, cycling and watching movies. My goal is to become a researcher in the field with continued graduate studies and work for an organization that ensures the welfare of the people.

2017 Poster Presentation

2017 Research Abstract

Design of Triple Scissor Extender Robot to Navigate Confined Spaces

Ángel J. Astacio, Department of Mechanical Engineering, University of Puerto Rico,

Abbas Munir Shikari, Department of Mechanical Engineering, Massachusetts Institute of Technology,

Harry Asada, Department of Mechanical Engineering, Massachusetts Institute of Technology

Articulated robotic arms are the industry standards in manufacturing. However, they are unable to precisely maneuver in confined spaces, as the joints motion traditionally consists of a sweeping movement. Therefore, industries rely on people to perform high load task on small confined and cramp spaces where robots are unable to reach. A new type of parallel robot mechanism with a low profile and extendable structure is being designed to address these challenges. A three-scissor mechanism arranged in parallel, coupled to three linear actuators at the base and connected in serial to a second stage attached at the end to an end-effector. Through the coordinated motion of the three-linear actuator the robot can expand up to six times, it contracted length and reach an arbitrary position. The scissor mechanism allowed it to work in a larger workspace than hexapods robots, such as Gough-Stewart hexapod platform. While the stacking of stages let it have the same versatility of articulated arms. The goal is to manufacture a prototype to validate the concept. We anticipate the robot will be capable of navigating through a narrow path in a highly confined environment within an allowed accuracy, and able to use effectively electrical, visual and force sensing end-effectors for industrial inspection. Coupled to a larger robot will allow performing complex tasks in tight spaces, and it will assist a technician during the inspection of highly confined environments.