Desarrollo de un Robot Transformable HEXA para exploración en terrenos irregulares

Abstract

This technical project presents the development of a transformable hexapod robot, named HEXA, designed for exploration and protection in irregular terrains. The system integrates an ESP32 microcontroller and a UCS-32 servo control module to synchronously manage 18 MG90S servomotors. The structure, manufactured via 3D printing using Smartfil RePLA and PLA, enables the transition between a spherical shell mode for protection and a hexapod mode for multipodal displacement based on inverse kinematics. Experimental tests validated that the mechanical design maintains operational stability on concrete, grass, and tile surfaces, achieving secure navigation without the need for complex external sensors. Despite practical challenges such as motor wear due to torque and battery validation on high-friction surfaces, the final prototype proves to be a robust and versatile platform for exploration missions and robotics competitions.