Repotenciación del robot humanoide Super Anthony mediante el rediseño mecánico para la recuperación de su operatividad

Abstract

This thesis presents the mechanical repowering of the humanoid combat robot Super Anthony, property of the Robotics Club of Universidad Politécnica Salesiana, whose operational performance was compromised due to structural wear and the obsolescence of its original servomotors. Since replacement components were no longer commercially available, a conventional repair approach became not feasible. Therefore, an adaptive mechanical redesign strategy was implemented, integrating new actuators with equivalent torque while maintaining compatibility with the existing control architecture. The methodology involved a structural technical diagnosis, geometric incompatibility analysis, redesign of the fastening system using metallic threaded inserts, CAD modeling of new structural components, and additive manufacturing of an optimized chassis. The robot’s performance was validated through structural simulations in SolidWorks and experimental evaluations focused on static and dynamic stability, energy consumption, and impact resistance. Stability was assessed through center of mass calculations and support polygon verification, while structural resistance was analyzed using Von Mises stress and displacement studies. Results demonstrated significant improvements in dynamic stability, reduced undesired lateral displacement, enhanced rotational control, and optimized energy performance, while maintaining impact capability during combat routines. It is concluded that the mechanical repowering process restored the robot’s functionality and optimized its dynamic behavior under structural and biomechanical engineering criteria. This work proposes a replicable methodology for the sustainable modernization of humanoid robotic platforms lacking original replacement components.