BSc Thesis, Forschungspraxis, Internship, Semesterarbeit Oppurtunity at Chair of Robotics and Systems Intelligence

22.04.2025, Studentische Hilfskräfte, Praktikantenstellen, Studienarbeiten

Background: As robotic systems increasingly incorporate compliant elements for safety, efficiency, or task-specific performance, understanding and characterising joint stiffness becomes essential. However, a single component does not always define real-world stiffness—it emerges from the combination of elastic elements, structural features, and manufacturing tolerances. This project addresses two key aspects of joint-level stiffness characterisation: (1) the development of a test setup to identify joint stiffness and its resolution under varying conditions, and (2) the design and modelling of elastic elements, such as cage springs, that serve as tunable stiffness sources. Together, these efforts support the broader goal of creating reliable, reproducible tools for joint characterisation and elastic component design in robotics.

Objectives:
Develop a joint stiffness and resolution test setup.
Investigate methods to measure power flow and stored energy in elastic joints.
Design and model tunable elastic elements (e.g., cage springs)
Validate stiffness behaviour through experimental testing.
Support future integration into generalised joint models

Possible Work Packages:
Research stiffness identification methods and their application to robotic joints
Design and build a test bench to characterise joint stiffness under load
Investigate sensor integration (e.g., encoders, force/torque, displacement sensors)
Develop procedures for repeatable stiffness and resolution measurements
Design and model cage spring elements with tunable properties (geometry, material, boundary conditions)
Validate stiffness and maximum deflection of the designed springs via simulation and experiment
Document test procedures and provide guidelines for future use in joint design workflows

Prerequisites:
Educational Background: Mechanical Engineering (with electronics knowledge), Mechatronics Engineering
Skills:
Advanced CAD skills for mechanical design and integration
Good understanding of stiffness and compliance in mechanical systems
Experience with FEA tools (e.g., Ansys, Abaqus)
Hands-on skills in mechanical prototyping and testing
Familiarity with sensors and DAQ systems
Interest in structured testing and repeatable measurement workflows
Mindset: A hands-on, “maker” attitude toward experimental and iterative problem-solving.
GPA Requirement: Minimum GPA of 2.3
Language Requirement: C1 English
Expected Graduation: After December 2025

What do I offer?
A very challenging and scientifically satisfactory work.
Upon successful results, co-authorship in my publications.
Unlimited cold beverages.
Quarterly group dinners, during summer days, and barbecues.
Know-how about hardware development, design, machine tools, modelling, DAQs, sensors, experiment design, robotics, academic writing and presentation.

Kontakt: mehmet.yildirim@tum.de

Mehr Information

https://www.mehmetcanyildirim.com/for-students/supervision