Plataforma terrestre móvil multipropósito económica para usos de inspección y de manipulación de cargas peligrosas

Abstract

This paper shows the results of the development of a general and multipurpose terrestrial platform to be used with different assemblies. The platform is designed considering concepts where the cost of loss of the complete equipment is not highly sensitive; as it eventually can happen with other complete systems active in Argentina (e.g. the robot ANDROS manufactured by Northop-Grumann, costs more than USD 200.000). This work addresses design aspects for space utilization, selection of functional components (motors, batteries, traction systems) from those available in the national market in order to minimize the constructive cost of a functional prototype. The control systems for the motors and for the tracking by tele-cameras and the assemblies of arms with handling claws are also developed. The platform has traction of high resistance plastic caterpillars with rubber grippers. The motor plant consists of gear motors with control systems developed ad-hoc (based on a DSPIC for pulse width modulation) in order to achieve generality and portability with various types of engines. The control of the movement is carried out through a wireless system with a command lever and ad-hoc keypads. Tests of dynamic response and kinematics of the platform to different types of terrain are shown. The dynamic responses of arm drive and manipulation clamp are shown besides.