For a design class at Princeton, I proposed the construction of a three degree of freedom model tower crane that had to be able to move weights up to 25 lbs. As project manager, I led a team of twelve students to design and build this machine.

The project began with a few humble sketches and "back of the envelope" calculations, but over time, evolved into a full CAD and finite element model, machine drawings, and eventually, a functioning crane. The final product featured a retraction winch, motorized turntable, and an electric linear actuator all within an aluminum frame.

Particularly interesting challenges during this project included building a robust harness for the hefty counterweight, and designing a control law that would slacken the winch as the load was being retracted towards the 5 foot mast.