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Camera(s)

Electronics Enclosure

Launcher

Triton-Ai Racquet Ball Launcher Magazine and Control

Sanad Afieh, Nate Froah, Aarav Savla, Colin Szeto

Department of Mechanical and Aerospace Engineering

University of California San Diego

Sponsored by Dr. Jack Silberman

Introduction

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• Team Inspiration/Triton-Ai and Advancing Science Technology and art is a multidisciplinary university and high school organization participating in autonomous vehicle competitions

Background

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• Team Inspiration/Triton-Ai needed a revised racquet ball launcher with prioritizes objective of reliability, accuracy and precision

Deliverables

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• Mechanical system to launch racquet balls
• Electrical system to power and command launcher
• Software system to autonomously localize towards target

Impact on Society

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• Developing rich autonomous navigation and interaction within a maritime environment

Safety Considerations

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• Rapid iterations via Additive Manufacturing to resolve stress concentrations through geometry selection

Design Solution

Design Recommendations

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• Consolidate parts to streamline assembly and decrease component quantity
• Implementation of humidity sensors to inform of water intrusion

Conclusions

Compared with the inherited launcher the final design:

• Delivers 50.8cm of range (30% increase) and a 72% increase in precision.

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Electrical

Software

Front Loaded Barrel

Motor & Encoder Enclosure

Prototype Performance

H-bridge

Servo PDB

Arduino

Hall effect Sensor

Rack

Fang

Index Ram & Cylindrical Cam

Wedge & Sear

Spring

Brushed Motor

Servo

Embedded Magnet

Acknowledgements

• Triton-Ai: Jack Silberman, Alexander Szeto
• MAE: Thomas Chalfant, Chris Cassidy, Jackie Chen, Marko Lubarda, Steve Mercsak, Steven Roberts, Abhishek Saha

Multiplexes the single motor movement into two slip gears, one for the puncher and one for the index ram Contains embedded magnet for repeatable launching

Acts as a mechanical lock interfacing with the “Fang”of the puncher until servo actuation

Converts linear motion into rotational movement of the Front Loaded Barrel

Equipped with an encoder rotates until magnet trips hall effect sensor or max ticks reached

Compound Drive

Puncher

Designed around threaded 15mm aluminum extrusion with replaceable spacers to enable refinement of spring compression

Found gravity fed designs introduced significant elevation variation

References

[1] Ingress Protection (IP) Ratings.” IEC – International Electrotechnical Commission, n.d., www.iec.ch/ip-ratings. Accessed 2 June 2025

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[2] Budynas, Richard G., and J. Keith Nisbett. Shigley’s Mechanical Engineering Design. 12th ed., International student ed., McGraw‑Hill Education, 2024