Construcción y control de un robot móvil birrueda
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Fecha
2020-07-21
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Jaén: Universidad de Jaén
Resumen
En este proyecto se presenta el desarrollo de un robot basado en un robot tipo péndulo invertido y robot segway, con el fin de diseñar un robot que sea
capaz de desplazarse por el suelo.
El presente trabajo abarca tanto el diseño como el control de un robot móvil birrueda. Para ello se han diseñado en SolidWorks las distintas piezas para
hacer funcional el robot y se han impreso en 3D en el FAB LAB (Fabrication Laboratory) de la universidad de Jaén. A través de distintos sensores,
controladores y motores se ha realizado el control principal mediante Arduino, en concreto, un Arduino Uno R3.
Adicionalmente, se ha desarrollado un software de control y una aplicación Android para controlar el movimiento del robot vía Bluetooth, de manera
que se pueda tener un control omnidireccional del mismo a través de un smartphone. Además, el robot incorpora una pequeña plataforma que se
mantendrá en una posición horizontal en todo momento.
This project aims to present the development of a robot that is capable of moving on the ground, using design principles taken from inverted pendulum and Segway type robots as basis for its own design. Two processes that were fundamental in the completion of this project were the design and the control of the two-wheel mobile robot. Speaking of the former, the different parts of the robot are going to be designed in SolidWorks, and shall be 3D printed at the FAB LAB (Fabrication Laboratory) of the University of Jaén. As for its main control — functional through different sensors, controllers, and motors — it will be mainly handled by an Arduino, specifically, an Arduino Uno R3. Furthermore, control software and an Android application will be developed in order to facilitate the movement of the robot via Bluetooth, giving the user an omnidirectional control of it by means of a smartphone. In addition, the robot will maintain a small platform that shall remain in a horizontal position at all times.
This project aims to present the development of a robot that is capable of moving on the ground, using design principles taken from inverted pendulum and Segway type robots as basis for its own design. Two processes that were fundamental in the completion of this project were the design and the control of the two-wheel mobile robot. Speaking of the former, the different parts of the robot are going to be designed in SolidWorks, and shall be 3D printed at the FAB LAB (Fabrication Laboratory) of the University of Jaén. As for its main control — functional through different sensors, controllers, and motors — it will be mainly handled by an Arduino, specifically, an Arduino Uno R3. Furthermore, control software and an Android application will be developed in order to facilitate the movement of the robot via Bluetooth, giving the user an omnidirectional control of it by means of a smartphone. In addition, the robot will maintain a small platform that shall remain in a horizontal position at all times.