At the beginning a first design was developed, shown in the image below, taking into account several theoretical and practical aspects. Once it was finished the design of the initial model, the evaluation of the prototype was carried out through experimental testing.
Daniel Brito has designed and built the testing platform for the different types of climbing prototypes. It is designed with AutoDesk in a way that allows testing of different surfaces, inclinations and situations.
Several versions of the robot were discarded until the final design was obtained after modifying the wrist because the leg was not able to put its final end parallel with any surface. The solution was to add a new DoF to the wrist, which allowed it to rotate on its main axis, achieving the total positioning of the final part of the wrist.
Advances in ROMERIN+ mechatronics: Electronic board, Legs and Case The electronic board is the robot’s brain, controls all its actions
In order to find the best and most efficient model, various experimental tests were carried out which consisted in taking of measures with respect to the following parameters: atmospheric pressure, the revolutions per minute of the rotor and the consumption in amperes of the engine.
The main objective is to capture the robot in the mentioned simulator, giving it its characteristics. Since this robot will have the complex task of inspecting ducts with difficult or no access it is necessary that the simulated model responds correctly to the different unforeseen events that may be in its way.