Diseño y construcción de un prototipo de vehículo explorador terrestre controlado inalámbricamente

Abstract

The objective of the present research work was the design, modeling, construction and programming of a prototype of a land explorer vehicle with wirelessly controlled real-time vision in a maximum operating range of 50 meters. The process for selecting the materials and components that made up the vehicle were established through the methodology of deployment of the quality function under weighting criteria, with this a conceptual design was established which was subsequently subjected to an engineering analysis assisted by Von Mises stress computer to obtain safety coefficients and validate the mechanical resistance of the elements that make up the vehicle under dynamic conditions. The corresponding study was carried out to facilitate the electronic signal control process and the construction of the motherboard that controls all the electrical components. When establishing the geometry and dimensions of the elements, the construction was carried out through computer-aided design and manufacturing processes in order to obtain the highest possible precision. From the construction process, the explorer vehicle was obtained with a safety coefficient greater than 1 in all mechanical elements, evaluating them using Goodman's theory for fatigue elements. Their behavior was analyzed using a Jacobian matrix which governs the movement of omnidirectional robots under maximum voltage conditions. Several kinematic analyzes were carried out to determine the limits of locomotion and the influence of the damping system on uneven terrain. It was concluded that the rover is capable of maintaining stable communication both in radio frequency and in first person video transmission in a range of 200 radial meters considering an urban terrain with an average density of buildings. The incorporation of environmental conditions sensors is recommended to improve the acquisition of informative data of the terrain to be explored.