Construcción de un robot octópodo basado en el mecanismo de desplazamiento de Theo Jansen.
In this present degree work robotic techniques were applied for the construction of a prototype octopodo robot which is formed by different unified modules and connected to each other for its proper functioning. This robot is inspired in Theo Jansen's mechanism, that is aimed to create mechanis...
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| Formato: | bachelorThesis |
| Lenguaje: | spa |
| Publicado: |
2019
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| Materias: | |
| Acceso en línea: | http://dspace.unl.edu.ec/jspui/handle/123456789/21764 |
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Agregar Etiqueta | Sumario: | In this present degree work robotic techniques were applied for the construction of a prototype octopodo robot which is formed by different unified modules and connected to each other for its proper functioning. This robot is inspired in Theo Jansen's mechanism, that is aimed to create mechanisms of walking locomotion, so that its movements are similar to some animals. Each part of the octopodo robot was designed and assembled. The electronic scheme (ISIS) and the routing tracks for the board elaboration. (Layout) were made in Proteus, its structure design accomodates the different modules unifying the Jansen mechanism that was drawn in AutoCAD. The main printed circuit board (PCB) called Wicks V 1.0, is composed of a microcontroller PIC18F2550 which sends orders to the motor control circuit letting its scrolling. The engine control modules has a circuit in configuration called bridge H. To communicate and interact between the operator (person who manipulates the robot movement) and the octopodo robot. It was developed a movile application to stablish inalambric communication through a bluetooth device in order to transfer data for scrolling (forward, backward, left, and right). The movil application was developed with the Ionic framework that uses HTML, CSS and JavaScript. The basic articulation based in Theo Jansen’s mechanism was designed taking as a reference the obtained results from a previous simulation. It helped to stablish parameters concerning dimensions of each link to be assembled and form a single strandbeest set of 4 articulations each. Afterwards, it was joined the whole to the robot, replacing the circular mechanical parts (wheels). The result was completely satisfactory and it was demonstrated that Jansen's mechanisms can help robots to scroll without being wheel-dependent. This prototype is helpful for education to encourage children, youth, and adults in this branch, because it allows them use their free imagination and exploit their logical qualities. |
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