M.R.

Explorer, Robot Mvil Explorador

First A. Author, Carlos Cuastumal Vasquez, Universidad de Pamplona, Second B. Author, Luis
Ernesto Neira, Universidad de Pamplona, Third Author, Jose Daniel Cera Martinez, Universidad
de Pamplona, Fourth Autor, Laura Tatiana Salazar Muoz, Universidad de Pamplona

Abstract
This article exhibit the explorer robot implementation
with a RF (Radiofrequency) system which is based on
the tele-operated robots beginning. This Robot is
endowed with one control system: one of exploration by
means of infrared cameras and lights for the
identification of spaces and exploration of unknown
dynamic environments, also it has a robotic arm of 3
DOF in which can hold different tools depending of the
assigned application. For example, establishing a metal
detectors for this application. The mechanic design of
the robot was designed by means of software CAD.

Index terms
Explorer Robot, Metals Detector, Robotic Arm.

I.

INTRODUCTION

There are many circumstances in which it is not

convenient to employ people to perform various duties
due to the constant and high risk to which they are
exposed; for this reason, multiple tools and equipments
have been developed to allow to replace the man and to
reduce the risks when these operations are performing,
running them through remote control robots.
Within of these equipments we can find tele-operated
mobile robots which are defined by the NASA us:
robotic devices with manipulative arms and sensors
with a certain degree of movement, they are remotely
controlled by a human operator in a directly way or
through a computer [1].
Mobile robots are an important technology in the
reduction of risks against human life in hazardous
environments, there are several kinds of explorer robots
for different purposes, from exploring mined areas to
exploring the space, each one designed for a specific
purpose.
In the progress of the tele-operated robots are involved
different sciences as electronic, as communications, as
control and the vision by a computer or by a screens.
Robotics is a science or a branch of technology which
studies the design and construction of artifacts capable

of performing tasks performed by human beings or that

demand the use of intelligence, an interdisciplinary area
constituted by mechanical, electronic and computer
engineering. [2]
Mechanic comprises three aspects: the machines
mechanic design, the static analysis and the dynamic
analysis.
Electronics allows the robot to transmit the information
that is delivered, coordinating electrical impulses that
make the robot performs the movements required for
the task.
Computer provides the necessary programs to achieve
the mechanical coordination that is required in the
robots movements, to give a certain degree of
intelligence to the machine, meaning adaptability,
autonomy and interpretative and corrective capacity.
Nowadays the robotics help has been done possible
considering that the robots reach to inaccessible places
by the man, in addition, the designated tasks are
achieved with more precision.
Taking advantage of the progress of these sciences and
using the previous concepts it was designed and
implemented this robot for the spaces recognition that
integrated a metal detectors for the metallic objects
detection.

II.

ROBOT DESCRIPTION

A mobile robot was built because it is a machine that

presents excellent characteristics to strengthen, to
develop mechatronics designs abilities, manufacture
and control engineering, likewise the design selected
allows to achieve an experience on passive stability in
mobile robots. The mobile robot has as objective to
explore unknown environments and to recognize
hostile, dangerous, or inaccessible environments for the
human beings. As alternative capacities that can be
considered the dangerous material transports, the
artifacts transport that can contribute to the recognition
of the place, to get information about the environment
and rescue tasks.

The robot is composed of a mechanical part, one of

power and one of control part. Regarding to the
mechanical part of the robot, all the motors carry a
planetary reduction system that is coupled to a
mechanism without end crown, this so that the
mechanism be irreversible reason why it is not possible
that it generates movement if this one is de-energized.

signal of each one, it will send an encrypted indication

to the receiver card, so that in this way the ARDUINO
activate or not the different relays which compose the
engine control module.

Regarding to the power part, it is composed of a relay

of sixteen (16) channels, eight (8) of which are arranged
in the form of a bridge to reverse the rotation of the
motors and thus give direction to the robot.
Relative to the control part, it is constituted by a PIC
16F877 that receives the pushbuttons and joystick's
signal, it is communicated through serial connection
with the emitting RF, in turn the receiver RF in the
robot communicates by serial with the Arduino and this
exercises the control actions on the relays module.
A 12V and 18A rechargeable battery is used to power
the motors and the control circuit. The robot is made of
aluminum profiles which tries to make it faster and
robust as possible.
To transmit the video signal to the screen of the suitcase
it is necessary to use a video transmitter that works at
12V and it is located in the robot, this signal is received
by the video receiver which is located in the suitcase
and that it also operates at 12V.
The robot also has an articulated robotic arm with three
degrees of freedom and a gripper that allows me to hold
any tool that contributes with the activity for which the
robot is going to be placed.

Figure 2. Connection Diagram PIC-Joystick

In addition, by means of some pushbuttons, we turn on
the lights and switch the cameras images, since there is
only one channel to transmit video, with the support of
an LED screen and through the display screen that is
located in this same bag, we can see the video signal of
each of the robots cameras.
All previously mentioned is done by means of the PIC
16F877. When it comes into execution, it sends the data
by serial communication to the signal transmitter that is
the X09-009PKC-R and this one by means of radio
frequency (900 MHz). It is sent to the receiving card;
which, in turn and again by serial communication sends
the data to the ARDUINO.
Before arriving to the Arduino, the data crosses through
a CI-MAX232, which converts The RS-232 serial port
signals from the receiver to a signals compatible with
the TTL levels of logic circuits, so that the ARDUINO
can read them without any inconvenience.

Figure 1. Bag diagram Robot - Control

III. DESCRIPTION OF THE OPERATION

OF EACH OF THE ROBOT PARTS
CONTROL STAGE
The control stage is composed of two parts, the first is
the control bag which is responsible for sending the
different data to the receiver that is located in the robot
and it is read and translated by a MEGA ARDUINO
2560; In the control bag we will find 6 joysticks with
which and depending on the output range of the analog

Figure 3. Connection Diagram PIC- Pulsad

After the Arduino receives and decrypts the data, it
sends different signals to the relay module, which is in
charge of controlling all the motors, lighting and
switching of the video cameras of the robot.

 POWER STAGE
The power stage is composed of a 16 relay module
which groups the first 12 of two, In order to make a
bridge H, and thus control the movement and rotation of
both, the robot and the three joints of the robotic arm
and the gripper or gripper; and rotation of both the robot
and the three joints of the robotic arm and the gripper or
gripper; The two following relays are in charge of
lighting the lights and the other we are switched the
images of the different cameras that the robot carries
and that by means of a video transmitter are sent to the
control bag, procedure described above.

DISEO MECANICO

Figure 5. Robot

The source that gives the energy to all the components

of the robot, is a sealed battery of 12V to 18A; and that
at a normal consumption, the robot running just over 1
hour.
To charge the battery again, a power outlet was
available in the robots structure, which allows us to
connect the charger in a fast and practical way.

Figure 6. Robotic Arm

RESULTADOS

At the time when the different robot components were

chosen, we kept in mind the operating voltage of these
that is why LED lights, cameras, RF receiver, video
transmitter and motors, all operate at 12 volts.
Avoiding of this way to conducting regulator circuits at
different voltages and / or having to dispose of batteries
at other voltages.
The power supply of the control case it also has a 12V /
6A battery which is able to keep the control part of the
control unit operating and the LED, at the same time
that the last one and it counts with an M-type power
outlet with three round legs, thick and in a triangle form
which allows us to charge the battery of a fast and safe
way.
Figure 7. Robot

Figure 9. Control Bag

Figure 8. Robotic Arm

[1]

Robots Teleoperados. .

[2]

diseno_de_un_robot_explorador.pdf. .