Projeto e desenvolvimento de um robô móvel para ambientes externos

Abstract

This monograph presents the design and construction of a ground mobile robot, with differential drive traction, with four wheels and two motors, where the wheels on each side receive the same motor motion. The steering control of the robot is done by controlling the speed difference of each pair of wheels, turning it or keeping it in rectilinear trajectory. This robot is designed for operation outdoors, with possibility for use in various applications, especially for agriculture. For this he had to meet the requirements of robustness and resistance, due to possible hostility of the operating environments. In order to guarantee a project that met these demands, its structure was simulated in several preset scenarios, using Ansys® software. In this work, the simulations made and their results will be discussed, as well as the sizing of some components. The functional prototype will be constructed and presented in this work, as well as the cost to manufacture it.