ELECTRICAL ENGINEERING · UNIVERSITY AT BUFFALO
I’m Jonathan Helmin, an electrical engineering student with hands-on electrical trade experience. I build projects that connect electronics, mechanical design, and control.
DUNCE MKII
A modular robotic arm.FEATURED PROJECT
Independent robotics project
Summer 2026
A five-degree-of-freedom robotic arm, controlled by two joysticks and built as a modular platform for experimentation.
I designed the mechanical components in Autodesk Fusion, developed the electrical systems, assembled the robot, and tested the final assembly.
PROJECT PURPOSE
I created DUNCE to turn my interest in electrical, mechanical, and software engineering into practical experience. With every iteration, I deliberately introduce a new engineering challenge so I can keep learning beyond what I already know. MKI focused on power and control systems; MKII pushed me into mechanical design through custom printed components, gear reductions, and a modular wrist. The goal is to understand how these disciplines work together by designing, building, testing, and refining a complete system.
MKII met the goals for an interchangeable end effector, stepper motors and gear reductions, and a shared motor power source. I reduced the original six-DOF goal to five DOF to stay within budget and schedule.
ENGINEERING IN PRACTICE
The constraints, alternatives, and choices behind DUNCE MKII.
Challenge. Base rotation could wrap wiring around the arm, risking damage, disconnection, and restricted movement. A slip ring and internal routing exceeded the project’s time and budget.
Decision. I limited base rotation to 270° and enclosed the wires in a protective sleeve.
Challenge. Reduce friction at the base joint with a simple, inexpensive solution. I considered lower-friction material and lubrication.
Decision. An integrated raceway with loose stainless-steel balls offered a simple, inexpensive solution using materials I already owned.
Tradeoff. A permanently attached end effector could offer more rigidity, but would limit future prototyping.
Decision. I chose a modular wrist interface so I could develop and test different end effectors without redesigning the rest of the arm.
DESIGN DETAIL / THE BASE JOINT
With the base lid separated, the internal ring gear, spur gear, and stainless-steel ball raceway are visible.
The raceway puts the friction-reduction decision into context: loose stainless-steel balls sit in an integrated track around the base joint.
INSIDE THE SYSTEM
An Arduino UNO R4 reads analog input from two joystick modules. A 24 V, 5 A AC–DC adapter supplies the stepper motor through an A4988 driver. A buck converter steps the supply down to 5 V for the servos, controlled through a PCA9685 PWM driver.
Custom components were designed in Autodesk Fusion and iterated through 3D printing. Most structural parts use PLA+ at 10% infill to reduce moving mass and motor load. The body incorporates five joints, three links, and an interchangeable end effector interface.
FIELD NOTES
I build on what I’ve learned, then introduce a new challenge. Each generation of DUNCE is an opportunity to explore another part of engineering.
Power and control system design.
Custom printed parts, gear reductions, and modular end effectors.
Expand electrical and mechanical systems and introduce simulation software.
ABOUT ME
My background connects electrical construction and maintenance with an electrical engineering education.
I’m pursuing a B.S. in Electrical Engineering at the University at Buffalo, with expected graduation in May 2029. I earned an A.O.S. in Electrical Construction and Maintenance through Alfred State College at Northland Workforce Training Center in May 2025.
Expected May 2029 · GPA 3.92 · Dean’s List
May 2025 · GPA 4.0 · Summa Cum Laude
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