Diseño e implementación de un prototipo de robot monociclo con rueda de reacción
[EN] In the world today, process automation is used in different types of industries, which is why it is important to be able to implement projects that improve existing processes. In practically any industrial project, a series of components are used, such as: actuators and sensors. In this project...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2024 |
| País: | España |
| Institución: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | español |
| OAI Identifier: | oai:riunet.upv.es:10251/210428 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/210428 |
| Access Level: | acceso abierto |
| Palabra clave: | Ingeniería Mecatrónica Simscape Multibody Arduino Monociclo Rueda de reacción Solidworks Mechatronics Engineering Diseño mecánico Mechanical design INGENIERIA DE SISTEMAS Y AUTOMATICA Máster Universitario en Ingeniería Mecatrónica-Màster Universitari en Enginyeria Mecatrònica |
| Sumario: | [EN] In the world today, process automation is used in different types of industries, which is why it is important to be able to implement projects that improve existing processes. In practically any industrial project, a series of components are used, such as: actuators and sensors. In this project, the complete design process of a robot will be carried out from its mechanical design to its actual implementation in order to apply the knowledge learned in the Mechatronics Engineering master's degree. This TFM was based on making a unicycle robot that uses a reaction wheel to maintain balance. The robot will have two different motors that must be controlled so that it can move correctly and stay balanced. The first motor is going to control the wheel of the unicycle and the second motor controls the reaction wheel that controls the balance of the robot. The robot must be able to be read the position from the motor wheel in its base by reading the encoder in order to adjust the speed of the second motor so that the robot can remain standing adequately despite suffering small disturbances. First, the design of the robot was carried out in 3D with the help of Solidworks CAD software to design its parts and then proceed to print them on the university's 3D printer. In addition to this, simulations of the designed model were carried out using the Matlab tool, Simscape to check its functionality. With the help of this tool, simulations of the robot system will be carried out and the closed-loop controller that will be used by the microprocessor to move the robot and maintain balance before different disturbances. After having the simulations, the robot was physically made with the 3D printed parts and the purchased electronic components. Finally, the programming and construction of the robot was carried out so that it is able to move forward and reverse and be able to maintain balance with the help of the implemented reaction wheel. |
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