Desarrollo de prototipo robótico de 18 grados de libertad tipo hexápodo

Luis Enrique Salvador Cano; Carlos Enrique Maciel García; José María Hernández Ochoa; Favio Rey Lua Madrigal

doi:10.61117/ipsumtec.v8i1.362

Authors

Luis Enrique Salvador Cano National Technological Institute of Mexico https://orcid.org/0009-0005-9387-7964
Carlos Enrique Maciel García National Technological Institute of Mexico https://orcid.org/0000-0002-5285-1056
José María Hernández Ochoa National Technological Institute of Mexico https://orcid.org/0009-0002-7700-8302
Favio Rey Lua Madrigal National Technological Institute of Mexico https://orcid.org/0009-0002-8971-1636

DOI:

https://doi.org/10.61117/ipsumtec.v8i1.362

Keywords:

Robotics, Hexapod, Denavith Hartemberg

Abstract

With the evolution of science and the constant improvement of technology, robotics has become a multidisciplinary science. With advances in computing, mechanics, electronics, artificial intelligence and other sciences, current robots emerge, described as intelligent, with improved sensory extensions compared to their predecessors. Advances in science allow robotics to have good prospects, but at the same time increase its complexity. This project proposes the development of a hexapod-type robot prototype, which is manufactured through CAD design and printed on 3D printers, the movement control is carried out through the ESP32 purpose board, programmed in C language, by the Arduino IDE which is free to distribute. The purpose is to have a self-made teaching equipment for the implementation of different control systems, which is why the prototype is first made, its kinematic analysis and the implementation of a first work algorithm communicated through an APK application developed for their movements.

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Author Biographies

Luis Enrique Salvador Cano, National Technological Institute of Mexico

Professor (tenured C) at the Tecnológico de Ciudad Guzmán, member of the academy of electrical and electronic engineering, has participated in educational robotics and control systems projects, speaker at national academic events, has taught robotics workshops in different schools, his lines of research are educational robotics, mobile robotics.

Carlos Enrique Maciel García , National Technological Institute of Mexico

Professor-researcher at the Tecnológico Nacional de México, specialist in electronics, optoelectronics and embedded systems. He has participated in educational robotics, automation and hardware design projects. He has experience in engineering education at undergraduate and postgraduate level, and has been a speaker at national academic events. His lines of interest include optical sensors, systems control, robotic vehicles with Artificial Intelligence and applied technology development.

José María Hernández Ochoa , National Technological Institute of Mexico

Professor (Titular ‘C’) at the Instituto Tecnológico de Cd. Guzmán, Jalisco; attached to the department of Electrical and Electronics; member of the academy of electronic engineering; former coordinator of the careers of electrical engineering and electronic engineering (13 years). assistant advisor of the ROBOTICS club; teacher in the areas of basic electronics, digital electronics, power electronics and programming; supporting the careers of industrial engineering, computer systems engineering, electronic engineering.

Favio Rey Lua Madrigal, National Technological Institute of Mexico

Professor-researcher, undergraduate teacher with 25 years of experience and administrative processes, 17 years as head of department in the academic area, specialist in analog and digital electronics in addition to physics subjects, has participated in educational robotics projects, and software design, the line of interest is optical sensors, renewable energy applied to autonomous vehicles.

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