Publication: Simulación por ordenador del paso por obstáculos de un vehículo terrestre no tripulado
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2015-10-23
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2015-10-23
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Abstract
En los últimos años, el diseño y desarrollo de vehículos no tripulados ha formado parte de las principales líneas de trabajo en el campo de la ingeniería mecánica. Su capacidad para actuar en zonas inaccesibles o peligrosas para el ser humano los dota de grandes ventajas aplicables a diferentes entornos de actividad.
A lo largo de este proyecto se ha estudiado un modelo concreto de vehículo terrestre no tripulado (UGV) que cuenta con la particularidad de tener las ruedas unidas al cuerpo mediante unas barras articuladas que permiten modificar su posición. Haciendo uso de un software comercial se han realizado múltiples simulaciones cuasiestáticas y dinámicas del paso por obstáculos de dicho vehículo. Durante las simulaciones se ha ido modificando la configuración de posición del vehículo así como las características de los obstáculos, con el objetivo principal de estudiar su influencia en el movimiento y poder ofrecer una configuración que permita al UGV realizar el paso del obstáculo aplicando un par lo más bajo posible, optimizando así su consumo.
Finalmente, se analizarán los resultados obtenidos en las simulaciones y se mostrará la configuración de posición recomendada que debe adoptar el vehículo para cada uno de los casos estudiados.
In recent years, the design and development of unmanned vehicles has been part of the main lines of work in the field of mechanical engineering. Its ability to act in areas that are inaccessible or dangerous to humans endows them with great advantages applicable to different activity environments. Throughout this project, a particular model of unmanned ground vehicle (UGV) has been studied, which has the distinction of having the wheels attached to the body by jointed bars that allow it to change its position. Using a commercial software many quasi-static and dynamic simulations have been made about the vehicle going over different obstacles. During the simulations the configuration of the vehicle and the characteristics of the obstacles have been modified, with the main aim of study their influence on the movement and offer a configuration that allows the UGV carry over the obstacle with the lowest torque, thus optimizing consumption. Finally, the results of the simulations will be analysed and the recommended configuration of position to be taken by the vehicle for each of the studied cases will be shown.
In recent years, the design and development of unmanned vehicles has been part of the main lines of work in the field of mechanical engineering. Its ability to act in areas that are inaccessible or dangerous to humans endows them with great advantages applicable to different activity environments. Throughout this project, a particular model of unmanned ground vehicle (UGV) has been studied, which has the distinction of having the wheels attached to the body by jointed bars that allow it to change its position. Using a commercial software many quasi-static and dynamic simulations have been made about the vehicle going over different obstacles. During the simulations the configuration of the vehicle and the characteristics of the obstacles have been modified, with the main aim of study their influence on the movement and offer a configuration that allows the UGV carry over the obstacle with the lowest torque, thus optimizing consumption. Finally, the results of the simulations will be analysed and the recommended configuration of position to be taken by the vehicle for each of the studied cases will be shown.
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Simulación, Vehículo terrestre no tripulado (UGV), Simulaciones cuasiestáticas, Simulaciones dinámicas