Betancur-Vásquez D, Mejia-Herrera M, Botero-Valencia J S
Grupo de Automática, Electrónica y Ciencias Computacionales, Instituto Tecnológico Metropolitano, Medellín, Colombia.
HardwareX. 2021 Jul 27;10:e00217. doi: 10.1016/j.ohx.2021.e00217. eCollection 2021 Oct.
Nowadays, additive manufacturing, rapid prototyping and assembly modules represent a market that has invaded the entire world, especially in developing countries where traditional manufacturing is more restricted. In robotics, it is pertinent to think that modular construction is essential, due to the complexity of geometry in each of the pieces and their manufacture. Taking into account the globalization of information and the worldwide reproduction of databases, facilitating access to CAD files to be reproduced in 3D printing promotes the easy construction of archived mechanical designs. A robotic architecture becomes a complex assembly by having multiple operating systems. The sensorics, mechanics, electronics and programming that it requires for navigation, collaboration, development, operation and even industrial manufacturing means that more and more elaborate embedded systems are used. In this work, a mobile robotics architecture was developed with a sensory system that allows free movement and navigation in closed loop inverse kinematics. This kind of robot uses navigation algorithms to take a trajectory in collaborative closed environments, that is, closed industrial environments where obstacles are normally immovable and corridors to move narrow, in addition to having mobile obstacles like humans.
如今，增材制造、快速成型和装配模块代表了一个已席卷全球的市场，尤其是在传统制造业受到更多限制的发展中国家。在机器人技术领域，鉴于每个部件的几何形状及其制造的复杂性，模块化构造被认为是至关重要的。考虑到信息的全球化以及数据库在全球范围内的复制，便于获取可在3D打印中复制的CAD文件促进了存档机械设计的轻松构建。通过拥有多个操作系统，机器人架构成为一个复杂的组件。其导航、协作、开发、操作乃至工业制造所需的传感、机械、电子和编程意味着越来越复杂的嵌入式系统被采用。在这项工作中，开发了一种具有传感系统的移动机器人架构，该传感系统允许在闭环逆运动学中自由移动和导航。这种机器人使用导航算法在协作封闭环境中规划轨迹，即封闭的工业环境，在这种环境中，障碍物通常是固定不动的，移动通道狭窄，此外还有像人类这样的移动障碍物。
