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Vehicle for Transporting Tools on Uneven Terrain


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DOI: https://doi.org/10.15866/ireme.v17i3.20075

Abstract


The transport of tools has been one of the most common needs in the agribusiness sector, where its application is carried out in environments with uneven terrain and, in many cases, it is not possible to access conventional means of transport that could damage crops, which hinders the development and efficiency of the sector’s production. Therefore, the design of a mobile robot, which has a Rocker-Bogie type suspension capable of overcomes uneven places or rough terrain, maintaining the stability of the vehicle’s load, is presented. Initially, the necessary calculations have been made to determine the geometry of the suspension, which has been later implemented in Computer-Aided Design (CAD), allowing the vehicle to be taken to Simulink simulation software called Simscape™. Subsequently, the vehicle design parameters have been defined in order to perform the dynamic calculations of the system, which knowing the maximum torque and angular speed of the engines is allowed, able to correctly select the engines that the vehicle is needed, and later, simulate them using the models available in Simscape ™, where its behavior has been analyzed in front of a certain input and in such a way it could be controlled by means of a discrete PI controller, implemented through a microcontroller. Finally, the kinematic analysis of the vehicle has been carried out, in order to implement a trajectory control to the system, which has been tested in a simulated environment with characteristics of a real place that the vehicle would face if it were physically implemented, obtaining results that are close to those that could be obtained in reality, analyzed in Section III.
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Keywords


Rocker-Bogie; Robotics; Kinematics; PI; Simscape

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References


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