Design of multipurpose terrestrial robotic platform
Vitor Leão Filardi, Ivanoé J. Rodowanski · 2024
This article presents the project and development of an accessible robotic platform designed for general purposes, especially for academic use, to support research and development in the field of terrestrial robots, including autonomous, teleoperated or radio-controlled robots. The platform primarily consists of a modular aluminum chassis, a pair of tracks driven by DC motors with planetary gearboxes, an electronic system comprising motor power drivers, and sensors such as IMU, GPS, and LiDAR. The system is integrated with the ROS framework using a Raspberry Pi4. A 3D CAD design was created, and the noncommercial mechanical components were 3D printed. The robotic platform was then assembled and tested. Based on the locomotion tests performed in radio-controlled mode on both paved and off-road terrains, the speed, agility, and obstacle traversal capability were evaluated and found to be satisfactory as planned in the project. Additionally, the 3D CAD model of the platform was exported to RVIZ and GAZEBO simulation environments, making it a simple and accessible tool for various research and development applications.