Desarrollo de un sistema de estabilidad para el transporte de un laboratorio de electroforesis experimental sobre un robot explorador

Abstract

The curiosity of the human being in exploring places of difficult access or that present unfavorable climatic conditions for it, has created the need to build intelligent robots capable of exploring these places without jeopardizing the integrity of people. The Environmental Engineering career of the Salesian Polytechnic University Sede Quito Campus Sur has seen the need to experiment and analyze similar soils to the surface of Mars, this involves transporting an electrophoresis laboratory on areas of sandy and rocky terrain, such as Skirts of the Chimborazo volcano, for soil analysis. Due to the conditions and the correct functioning of the analysis required by the electrophoresis laboratory, it is necessary that it is complying with the movement parameters and the horizontal position, since this laboratory will be analyzing the soil samples collected in situ while the robot moves through Irregular terrain, therefore, a reliable, functional stability system on the scanning robot that meets the analysis objectives required by the laboratory is necessary. For the construction of the stabilization system it was necessary to couple two linear actuators with a support point in the center of the platform, in addition a PID control was implemented that was responsible for maintaining the stability of the platform while the robot is in motion .