Design and Implementation of an Omnidirectional Robot with a 5-Degree-of-Freedom Robotic with Bluetooth Control (#833)

Authors

Quispe Ccachuco, Marcelo Jaime

Castillo Cáceres, Cesar Pio

Rodriguez Garcia., Edson Jean-lu

Villca Balcon, Cristian Alvaro

Abstract

This project involves the successful implementation of a cutting-edge robotic system, optimally integrating the capabilities of an omnidirectional robot with a horizontal mobile base, with mecanum wheels for movement in all directions, with a 5 DOF robotic arm attached to it to increase the workspace. The incorporation of Bluetooth communication implies the creation of a manipulation interface (APK) that amplifies its functionalities, allowing remote control and interaction in real time. Furthermore, the inclusion of a sophisticated movement memory system gives the robot the ability to store and remember intricate movement sequences, through a loop created in the idle code (Arduino), contributing to its adaptability and efficiency in various applications, such as robots. pick and place that do it cyclically, which will be programmed and executed on the arduino Mega, along with its design that includes the 4 nema stepper motors for the mecanum wheels and 5 servomotors for the manipulation part of the upper robot with its drives and corresponding electronic components on its PCB board. The solid parts were manufactured in inventor to corroborate the maximum scope and final visualization of the assembly, in order to carry out a simulation of the most critical component of the robot with its respective plans, considering 3D printing and laser cutting for the manufacture of these components. and its corresponding assembly.Mecanum wheels offer a speed of 12 cm per second according to the programming in the Arduino Mega, allowing smooth and precise movements in multiple directions. The implementation and construction considered the structural resistance and a maximum load capacity of 200 grams. Performance optimization was achieved through trajectory planning algorithms, and thorough testing and adjustments ensured safe and reliable operation. Mecanum wheels are widely used in the robotics industry, especially in applications that require maneuverability and precise movements in tight spaces. The Mecanum wheel platform allows the robot to move in any direction without changing its orientation, thanks to the special arrangement of rollers on the wheels that enables lateral and diagonal displacement.