Our Robot
Our Robots First Prototype
Our second prototype have been developed by Juan Cristobal Molina Poveda, it was designed for our school stairs
Our first prototype have been developed by Eva María Góngora Rodríguez and Ezequiel Farina and the robotic arm by Jia Hao Luo Chen
In the end we opted for a design based on a central chassis with an independent suspension system with six wheels. The first idea was using two motors (one for each three wheels) with a transmission mechanism but, eventually, we choose the option of using integrated motors in rims, also known as ‘hub motors’.
For the final design we have created a unibody chasis made of aluminium to which we are going to join suspension arms also fabricated from aluminium.
We are using an independent steering system for the front and back wheels controlled by four servomotors.
In order to participate in the ability test, we are going to implement a 6-axis robotic arm.
The control system of our rescue robot is based on ROS. A mini pc is responsible for coordinating all of the processes by connecting to arduinos DUE, Nano and MEGA, which control the sensors and actuators. We will communicate with the robot wirelessly.
To overcome any obstacle it has 6 motorized wheels and 4 Dymamixel servomotors to steer the 4 corner wheels, to be able to change the direction while moving or to turn on itself.
The installed sensors are:
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Three RGBD cameras to observe the environment of the robot and know its proximity.
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Light and color sensors with a measuring range of approximately 10mm. CO2 detector compatible with arduino.
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Microphone
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Speakers
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LED lightning
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High resolution thermal camera
These sensors are divided into different modules that are controlled separately to receive data like checking CO2 levels in the environment, noise levels or brightness.