Diseño de un prototipo de robot móvil teleoperado para el desplazamiento en superficies verticales

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dc.contributor.advisorGonzález Acuña, Hernánspa
dc.contributor.authorQuintero Lara, Alfonso Renéspa
dc.contributor.cvlacGonzález Acuña, Hernán [0000774774]*
dc.contributor.googlescholarGonzález Acuña, Hernán [NUgEExkAAAAJ]*
dc.contributor.orcidGonzález Acuña, Hernán [0000-0003-2118-2272]*
dc.coverage.campusUNAB Campus Bucaramangaspa
dc.coverage.spatialColombiaspa
dc.date.accessioned2021-02-11T19:01:09Z
dc.date.available2021-02-11T19:01:09Z
dc.date.issued2012
dc.degree.nameIngeniero Mecatrónicospa
dc.description.abstractLos trabajos de investigación y desarrollo en la robótica móvil se han ido enfocando día tras día en facilitar las labores cotidianas del hombre en su entorno. Actualmente se observa que la manera en que se realiza la inspección y mantenimiento en muros de edificios y/o en tanques de almacenamiento de hidrocarburos se hace de manera manual a grandes alturas, exponiendo la vida y salud del hombre, teniendo limitaciones de realizar una inspección de forma rápida y eficiente.spa
dc.description.abstractenglishResearch and development work in mobile robotics has focused day after day on facilitating the daily tasks of man in their environment. Currently it is observed that the way in which the inspection and maintenance is carried out on building walls and / or in hydrocarbon storage tanks is done manually at high altitudes, exposing life and men's health, having limitations to perform an inspection quickly and efficiently.eng
dc.description.degreelevelPregradospa
dc.description.learningmodalityModalidad Presencialspa
dc.description.tableofcontents1. PLANTEAMIENTO DEL PROBLEMA ............................................................................ 6 2. OBJETIVOS ................................................................................................................... 7 2.1 OBJETIVO GENERAL. ............................................................................................. 7 2.2 OBJETIVOS ESPECIFICOS. ................................................................................... 7 3. INTRODUCCION ........................................................................................................... 8 4. ESTADO DEL ARTE ...................................................................................................... 9 5. MARCO TEORICO ...................................................................................................... 21 5.1 TECNICA VORTICE ............................................................................................... 21 5.1.1 Generador de Vórtice ....................................................................................... 21 5.2 ALIMENTACION DEL ROBOT ............................................................................... 23 5.2.1 Tipos de baterías ............................................................................................. 24 5.2.1.1 Níquel / Cadmio (Ni/Cd)............................................................................. 24 5.2.1.2 Níquel / Metalhidruro (Ni/MH) .................................................................... 25 5.2.1.3 Ión - Litio (Li-ion) ....................................................................................... 26 5.2.1.4 Plomo ácido............................................................................................... 26 5.2.1.5 Polímero de Litio (Li-Po). ........................................................................... 27 5.2.2 Batería LiPo para radio control (LiPo - RC) ...................................................... 28 5.2.2.1 Especificaciones de las baterías Li-Po. ..................................................... 29 5.2.2.2 Capacidad (mah) ....................................................................................... 31 5.2.2.3 Velocidad de descarga (Discharge Rate "C") ............................................ 32 5.2.3 Glosario Baterías RC ....................................................................................... 35 5.2.4 Cuidado y usos de las baterías LiPo. ............................................................... 39 5.2.4.1 Salva LiPo (Lipo Safe) ............................................................................... 39 5.2.5 Cargadores de baterías LiPo. .......................................................................... 41 5.3 MOTOR BRUSHLESS PARA RADIOCONTROL ................................................... 43 5.3.1 Funcionamiento de un motor brushless. .......................................................... 44 5.3.2 RPM de un motor brushless. ............................................................................ 44 5.3.2.1 lista de motores brushless ......................................................................... 45 5.4 CONTROLADOR ELECTRÓNICO DE VELOCIDAD (ESC). .................................. 48 5.5 COMUNICACIÓN INALÁMBRICA DEL ROBOT. .................................................... 49 5.5.1 Amplitud modulada (AM) .................................................................................. 50 5.5.2 Frecuencia modulada (FM) .............................................................................. 50 5.5.2.1 Modulación por Posición de Pulsos (PPM) ................................................ 51 5.5.2.2 Modulación por Impulsos Codificados (PCM) ............................................ 51 5.5.3 Equipos de radio de 2,4 Ghz. ........................................................................... 53 5.5.4 Tecnología DSS ............................................................................................... 53 6. DISEÑO MECANICO DEL PROTOTIPO ROBOT ESCALADOR DE PAREDES. ........ 56 6.1. MECANISMO DE ADHESION DEL ROBOT.......................................................... 56 6.2. PRUEBA DE ESFUERZO AL SISTEMA DE ADHESIÓN ...................................... 58 6.3. SISTEMA MECANICO DE TRACCION DEL ROBOT ............................................ 61 6.3.1. Diagrama de Cuerpo Libre - DCL .................................................................... 61 6.3.2. Estructura del Robot ....................................................................................... 63 6.3.3. Servomotores ................................................................................................. 64 6.3.4. Batería LiPo .................................................................................................... 65 6.3.5 Motor Brushless ............................................................................................... 66 6.3.6. Controlador de Velocidad ESC ....................................................................... 67 6.4 SISTEMA DE CONTROL ....................................................................................... 69 6.5 DISEÑO EN CAD ................................................................................................... 70 6.5. PROTORIPO FINAL .............................................................................................. 71 7. RESULTADOS EXPERIMENTALES Y PRUEBAS DEL ROBOT. ................................ 72 8. CONCLUSIONES ........................................................................................................ 73spa
dc.format.mimetypeapplication/pdfspa
dc.identifier.instnameinstname:Universidad Autónoma de Bucaramanga - UNABspa
dc.identifier.reponamereponame:Repositorio Institucional UNABspa
dc.identifier.repourlrepourl:https://repository.unab.edu.cospa
dc.identifier.urihttp://hdl.handle.net/20.500.12749/12199
dc.language.isospaspa
dc.publisher.facultyFacultad Ingenieríaspa
dc.publisher.grantorUniversidad Autónoma de Bucaramanga UNABspa
dc.publisher.programPregrado Ingeniería Mecatrónicaspa
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dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.rights.accessrightshttp://purl.org/coar/access_right/c_abf2spa
dc.rights.creativecommonsAtribución-NoComercial-SinDerivadas 2.5 Colombia*
dc.rights.localAbierto (Texto Completo)spa
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/co/*
dc.subject.keywordsMechatroniceng
dc.subject.keywordsMobile roboticseng
dc.subject.keywordsWall climberseng
dc.subject.keywordsMobile platformeng
dc.subject.keywordsPrototype developmenteng
dc.subject.keywordsManipulatorseng
dc.subject.keywordsAutomationeng
dc.subject.keywordsRoboticseng
dc.subject.keywordsMechanic systemeng
dc.subject.keywordsControllerseng
dc.subject.lembMecatrónicaspa
dc.subject.lembDesarrollo de prototiposspa
dc.subject.lembManipuladoresspa
dc.subject.lembAutomatizaciónspa
dc.subject.lembRobóticaspa
dc.subject.lembSistema mecánico
dc.subject.lembControladores
dc.subject.proposalRobótica móvilspa
dc.subject.proposalEscaladores de paredesspa
dc.subject.proposalPlataforma móvilspa
dc.titleDiseño de un prototipo de robot móvil teleoperado para el desplazamiento en superficies verticalesspa
dc.title.translatedDesign of a prototype of a teleoperated mobile robot for movement on vertical surfacesspa
dc.type.coarhttp://purl.org/coar/resource_type/c_7a1f
dc.type.driverinfo:eu-repo/semantics/bachelorThesis
dc.type.hasversioninfo:eu-repo/semantics/acceptedVersion
dc.type.localTrabajo de Gradospa
dc.type.redcolhttp://purl.org/redcol/resource_type/TP

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