SPIDER4LEGS MOBILE ROBOT DESIGN CONTROLLED BY THE ESP32 PLATFORM
The grazing robot is a dynamic system, consisting of a platform (the body of the robot) and a number of legs with structures similar to the kinematic chains of manipulator robots. Grazing robots can have a redundant number of legs, therefore they can ensure a static stability even if one or more leg...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Petroleum-Gas University of Ploiesti
2023-06-01
|
| Series: | Romanian Journal of Petroleum & Gas Technology |
| Subjects: | |
| Online Access: | http://jpgt.upg-ploiesti.ro/wp-content/uploads/2023/06/21_Articol-jurnal-UPG-nr-1_2023_Necula-et-al-RJPGT-rev1.pdf |
| Summary: | The grazing robot is a dynamic system, consisting of a platform (the body of the robot) and a number of legs with structures similar to the kinematic chains of manipulator robots. Grazing robots can have a redundant number of legs, therefore they can ensure a static stability even if one or more legs are destroyed [10]. The objective of the work is to design a mobile robot controlled with the Arduino board controlled by an ESP 32 logic processor. The robot proposed in the paper is a spider-type robot with four legs, named SPIDER4LEGS. The components used to make the robot are the following: ESP32 development board, ESP ROOM-32, WiFi and Bluetooth BLE, Dual Core; PCA9685 module, I2C interface, 16 CH, servo motor; 12 Servo motors SG90 180 degrees. A possible field of application of these robots is the internal inspection of pipelines transporting petroleum products [7],[8],[9]. |
|---|---|
| ISSN: | 2734-5319 2972-0370 |