Publication: Diseño, construcción, sensorización y control de un robot imprimible de exteriores
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2012
Defense date
2012-09-24
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Abstract
El objetivo de este proyecto es la creación de un robot imprimible basado en tracks articulados. El robot se desarrollará con tecnologías libres y la estructura se creará mediante una impresora 3D de tipo RepRap. Se crear á el modelo cinemático del robot y se analizarán matemáticamente las restricciones de movimiento. Se dotará al robot de una sistema de percepción basado en dos sensores de proximidad basados en infrarrojos y un acelerómetro analógico. Se diseñará un sistema electrónico de control basado en un microcontrolador Arduino Mega2560 comunicado con un ordenador personal. Se programará un software de control mediante el PC y se programarán varias maniobras autónomas. _________________________________________________________________________________________________________________
The main goal of this project is to design and build a printable mobile robot with track-based motion. The vehicle will be designed making use of several open source technologies and the physical structure of the robot will be manufactured on a RepRap 3D printer. A kinematic model of the robot will be developed and the motion constraints will be mathematically analyzed. The robot will be tted with a sensorial system composed by two IR-based proximity sensors and an analog accelerometer. An electronic control system will be designed on top of an Arduino Mega2560 microcontroller board connected to a personal computer. Finally, the microcontroller will be programmed to provide both remote control functionality and some autonomous capabilities.
The main goal of this project is to design and build a printable mobile robot with track-based motion. The vehicle will be designed making use of several open source technologies and the physical structure of the robot will be manufactured on a RepRap 3D printer. A kinematic model of the robot will be developed and the motion constraints will be mathematically analyzed. The robot will be tted with a sensorial system composed by two IR-based proximity sensors and an analog accelerometer. An electronic control system will be designed on top of an Arduino Mega2560 microcontroller board connected to a personal computer. Finally, the microcontroller will be programmed to provide both remote control functionality and some autonomous capabilities.
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Robótica, Desarrollo de software, Microcontroladores, Impresoras 3D