JLR Robotic Charger

Use any technology of your choice to accurately detect the position of the plug, which can be deployed on a production vehicle. Your robot’s charging end should be able to move and latch/unlatch the charging plug into the socket autonomously and return to its location. The bot is a cost-effective charging system, having rigid support on the ground. It employs simple devices such as stepper motors, linear actuators, and a gear assembly. It has a well-defined locomotive system which makes it possible to maneuver the robot considering all the possible orientations in which the charging point can be located. A spherical coordinate system where two linear actuators move in an x-y plane and a rotating platform for theta rotation, which is achieved by a well-defined gear train. This bot also contains a compliant mechanism at the end effector, responsible for moving the charger plug in all directions to find the best fit, thereby avoiding any irregularities during plugging. It also contains a suspension system for avoiding any jerks during plugging.
Components:

1. Charging Plug (Male)
2. End Effector enclosure
3. Revolute joint
4. Linear actuator with 1500 mm stroke length
5. Rotating platform with revolute joint
6. Big Stepper motor (Nema 23)
7. Gearbox
8. Connecting Rod
9. Linear actuator with 500 mm stroke length
10. 3× castor wheels
11. Worm gear assembly with reduction ratio
    36:1
12. Complaint mechanism
13. Suspension
14. Night vision camera
15. Spur gear (20 teeth, 10 cm diameter)
16. Spur gear (15 teeth, 7.5 cm diameter)
17. Spur gear (30 teeth, 15 cm diameter)
18. Gear shaft
19. Revolute joint
20. 2x small stepper motor