Construcción de un robot balancín controlado por una aplicación móvil

Abstract

In order to achieve the robot to keep in a perfect balanced state, it was necessary to study an extensive literature about robotics, one of the firsts steps was to design the mechanical parts one by one, AutoCAD 2017 program was used in order to achieve this task because its facilities in three-dimensional coordinates that let obtain the most accurate precision in the 3D printing of the “nema” 17 motor mounts. Once all the components were on place, an electronic general board was designed and burned. I installed the different electronic elements to be used on the robot on this board. Among the most important electronic components I can cite the Arduino element, which is on charge of making the necessary calculations for keeping a perfect balanced. Subsequently, the mechanical model and its construction were carried out with acrylic materials and “PLA” to obtain the precision required by the robot to stay in balance, within this point it was verified that all the electronic and mechanical elements are working correctly. The next step was to fully integrate all the elements and we proceeded to establish the “PID” parameters and in the “Inventor App” program design the user frontend control interface, because not all surfaces were uniform, it was necessary to carry out several programming tests until the robot gets the proper balance and doesn't crash.