Design and construction of a robotic solution for the University Rover Challenge (URC)

The project documented here, designed a solution in robotics that will solve tasks presented in the University Rover Challenge. An important group of tasks demand the construction of a robotic actuator to aid astronauts in a simulated Mars exploration mission. This work shows the design process for...

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Autores:
Naman Medina, Yasin Kahtan
Tipo de recurso:
Trabajo de grado de pregrado
Fecha de publicación:
2017
Institución:
Universidad de los Andes
Repositorio:
Séneca: repositorio Uniandes
Idioma:
eng
OAI Identifier:
oai:repositorio.uniandes.edu.co:1992/60861
Acceso en línea:
http://hdl.handle.net/1992/60861
Palabra clave:
Robots
Robótica
Rights
openAccess
License
https://repositorio.uniandes.edu.co/static/pdf/aceptacion_uso_es.pdf
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dc.title.spa.fl_str_mv Design and construction of a robotic solution for the University Rover Challenge (URC)
title Design and construction of a robotic solution for the University Rover Challenge (URC)
spellingShingle Design and construction of a robotic solution for the University Rover Challenge (URC)
Robots
Robótica
title_short Design and construction of a robotic solution for the University Rover Challenge (URC)
title_full Design and construction of a robotic solution for the University Rover Challenge (URC)
title_fullStr Design and construction of a robotic solution for the University Rover Challenge (URC)
title_full_unstemmed Design and construction of a robotic solution for the University Rover Challenge (URC)
title_sort Design and construction of a robotic solution for the University Rover Challenge (URC)
dc.creator.fl_str_mv Naman Medina, Yasin Kahtan
dc.contributor.advisor.none.fl_str_mv Rodríguez Herrera, Carlos Francisco
dc.contributor.author.none.fl_str_mv Naman Medina, Yasin Kahtan
dc.contributor.jury.none.fl_str_mv Núñez Gamboa, Juan Sebastián
dc.subject.keyword.spa.fl_str_mv Robots
Robótica
topic Robots
Robótica
description The project documented here, designed a solution in robotics that will solve tasks presented in the University Rover Challenge. An important group of tasks demand the construction of a robotic actuator to aid astronauts in a simulated Mars exploration mission. This work shows the design process for the first prototype of the robotic arm subsystem for the 2016 competition. The process concluded with the construction of two serial manipulators. Both were specifically designed for the tasks required by the competition. The first manipulator was specially built to collect tools in the floor outdoors. It was also built to hold the forces of tools made for digging and measuring temperature and humidity 10 cm deep. This arm has 3 degrees of freedom (DOF). The second manipulator was designed and mounted to solve more dexterous tasks, such as: unscrewing a DIN connector and screwing back again, pouring gasoline in a tank, connecting a carabiner to a wagon, among others. This arm has 7 DOF. The second arm uses parts of the first, given that changing configuration between tasks is allowed.
publishDate 2017
dc.date.issued.spa.fl_str_mv 2017
dc.date.accessioned.none.fl_str_mv 2022-09-26T22:02:58Z
dc.date.available.none.fl_str_mv 2022-09-26T22:02:58Z
dc.type.spa.fl_str_mv Trabajo de grado - Pregrado
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dc.format.extent.spa.fl_str_mv 31 hojas
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dc.publisher.spa.fl_str_mv Universidad de los Andes
dc.publisher.program.spa.fl_str_mv Ingeniería Mecánica
dc.publisher.faculty.spa.fl_str_mv Facultad de Ingeniería
dc.publisher.department.spa.fl_str_mv Departamento de Ingeniería Mecánica
institution Universidad de los Andes
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spelling Al consultar y hacer uso de este recurso, está aceptando las condiciones de uso establecidas por los autores.https://repositorio.uniandes.edu.co/static/pdf/aceptacion_uso_es.pdfinfo:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Rodríguez Herrera, Carlos Franciscovirtual::6622-1Naman Medina, Yasin Kahtancefc3f9c-5968-4bda-9892-66f87382a1e2500Núñez Gamboa, Juan Sebastián2022-09-26T22:02:58Z2022-09-26T22:02:58Z2017http://hdl.handle.net/1992/60861instname:Universidad de los Andesreponame:Repositorio Institucional Sénecarepourl:https://repositorio.uniandes.edu.co/795765-1001The project documented here, designed a solution in robotics that will solve tasks presented in the University Rover Challenge. An important group of tasks demand the construction of a robotic actuator to aid astronauts in a simulated Mars exploration mission. This work shows the design process for the first prototype of the robotic arm subsystem for the 2016 competition. The process concluded with the construction of two serial manipulators. Both were specifically designed for the tasks required by the competition. The first manipulator was specially built to collect tools in the floor outdoors. It was also built to hold the forces of tools made for digging and measuring temperature and humidity 10 cm deep. This arm has 3 degrees of freedom (DOF). The second manipulator was designed and mounted to solve more dexterous tasks, such as: unscrewing a DIN connector and screwing back again, pouring gasoline in a tank, connecting a carabiner to a wagon, among others. This arm has 7 DOF. The second arm uses parts of the first, given that changing configuration between tasks is allowed.El siguiente trabajo presenta el proceso de diseño para resolver las tareas requeridas por la competencia (URC) University Rover Challenge. Un grupo importante de tareas requiere la construcción de un actuador robótico para asistir astronautas en una exploración marciana simulada. Este trabajo muestra el proceso de diseño del primer prototipo de la competencia del 2016. El proceso concluyó con la construcción de dos manipuladores seriales. Ambos diseñados específicamente para las tareas requeridas en la competencia. El primer brazo fue construido y diseñado para recolectar herramientas del suelo. También está diseñado para soportar las cargas que se generan cuando se coloca una herramienta de excavación en su extremo. Este primer brazo tiene 3 grados de libertad. El segundo manipulador fue diseñado y ensamblado para cumplir con tareas de mayor complejidad, tales como desatornillar un conector DIN, verter gasolina en un tanque, conectar un mosquetón a una carretilla, entre otras. Este brazo tiene 7 grados de libertad.Ingeniero MecánicoPregrado31 hojasapplication/pdfengUniversidad de los AndesIngeniería MecánicaFacultad de IngenieríaDepartamento de Ingeniería MecánicaDesign and construction of a robotic solution for the University Rover Challenge (URC)Trabajo de grado - Pregradoinfo:eu-repo/semantics/bachelorThesisinfo:eu-repo/semantics/acceptedVersionhttp://purl.org/coar/resource_type/c_7a1fTexthttp://purl.org/redcol/resource_type/TPRobotsRobótica201327100Publicationhttps://scholar.google.es/citations?user=O8Cl-rUAAAAJvirtual::6622-10000-0002-7438-8963virtual::6622-1https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000054020virtual::6622-1e6d7de00-33cf-432f-9b5d-cdcff3b1f6a1virtual::6622-1e6d7de00-33cf-432f-9b5d-cdcff3b1f6a1virtual::6622-1THUMBNAIL13160.pdf.jpg13160.pdf.jpgIM Thumbnailimage/jpeg7473https://repositorio.uniandes.edu.co/bitstreams/c2426888-a867-4ef5-a648-fcf39e8c7143/download6b94e9e1e52877173b6d4c4998fb9bddMD53ORIGINAL13160.pdfapplication/pdf2369425https://repositorio.uniandes.edu.co/bitstreams/085c3029-d577-489e-a76f-2eabc749a8e3/download49d5b04dee65a2f06d86c13792e67af9MD51TEXT13160.pdf.txt13160.pdf.txtExtracted texttext/plain42573https://repositorio.uniandes.edu.co/bitstreams/9806fe63-6edb-4b85-a73e-18896c0a3ea6/download47803c518b3fa6d3ede7b1d805f6159cMD521992/60861oai:repositorio.uniandes.edu.co:1992/608612024-03-13 13:13:55.428https://repositorio.uniandes.edu.co/static/pdf/aceptacion_uso_es.pdfopen.accesshttps://repositorio.uniandes.edu.coRepositorio institucional Sénecaadminrepositorio@uniandes.edu.co

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