Diseño de mecanismo para locomoción de prototipos de robots tipo insectos en carreras sin obstáculos

Abstract

The robot movement in no obstacles competitions shows lack of efficiency in full contact with surfaces, slow speeds, wrong paths and variations of center of gravity height, therefore, the purpose of this work is to design a locomotion mechanism to insect robot prototypes. The design gets developed sustained by the Hoeken mechanism, which is the most appropriate, according to research studies, the prototype sizing is based on a dimensional synthesis, with a cinematic analysis, selection of actuator and a dynamic analysis of the robot structure made using SolidWorks 2020 software. For the construction. printing technology was used by the FDM method and the result checking of real movements using Tracker software. Design parameters in Hoeken mechanisms correspond to a numeric value for driver link of 2cm, rocker, coupler and its extension of 2.5 cm and a frame of 2.1 cm. The robot move in straight path is 4cm, 105 cm/s as forward speed and with 178 cm/s as acceleration, PLA is used to print the mechanism links, that is enough to support efforts and deformations while the prototype is operating in base of a Pololu actuator with 0.67 kg-cm as a torque. The path control is based on the use of a gyroscope in order to avoid any deviations. The prototype’s journey time is set to 3.78 seconds, which is higher than the last robots presented by the robotic club in the past.