Diseño e implementación de robots de competencia: diseño e implementación del robot de competencia categoría mini sumo.

Abstract

This document describes the design and construction of an autonomous mini sumo robot, which is based on the technical specifications of the Ecuadorian Robotics Contest, it must also be able to identify the enemy, and push him out of the combat arena, which can be achieved with an embedded system. Prior to the mechanical and electronic design, a literature review will be carried out to determine the main characteristics of the robot, such as: the type of traction, shape and size of the base structure, selection of sensors and actuators, among others. Next, the robot chassis is made together with an analysis of the material when a force is applied to it, continuing with the electronic design made up of the distance, reflection, gyroscope sensors, and the gearbox motors, with their driver. management, and incorporate the electronic system with the mechanical one, for the complete implementation of the prototype. With respect to the control software, it is developed in the STM32CubeIDE environment, in which the conditioning of the sensors and the control of the motors are carried out. In addition to performing the respective operating routines for detecting the enemy, avoiding leaving the combat arena, and advancing in a straight line, it will be based on a PID speed controller for each of the motors. Finally, the validation of the robot's operation will be carried out in a combat arena that meets the specifications of the ¨Concurso Ecuatoriano de Robotica¨.