Desarrollo de un prototipo robótico tipo insecto con control de lazo cerrado para recorrer un a pista con obstáculos

Abstract

This section describes the design, construction and technical characteristics of the operation and control used in the insect-type robot to travel the obstacle course. It has begun with a theoretical study to know the different types of locomotion of insects. The study on the optimal mechanism for the robot to move quickly avoiding obstacles is also presented. This study focuses on the locomotion form of each arthropod insect. After this study, the design to be implemented has been proposed, from the movement and the conditions applied, taking into account the degrees of freedom of each joint to the control mechanism of the insect-type robot. The robot has been built with a design through the rules of the “CER” robotic competition (Ecuadorian Robotics Contest). The electronic elements were placed so that the robot has a balanced center of gravity. The hardware was designed with the help of the “AutoCAD” software, implementing it in triplex wood for moving parts and couplings. The respective functional tests of each electronic element were performed for final placement.