DEVELOPMENT OF A MOBILE ROBOT
(DESIGN AND CONSTRUCTION)
Joan Sebastián Osorio Arismendy
Hernando Efraín León Rodríguez
u2903262@unimilitar.edu.co.
SUMMARY
For the construction of the mobile robot, it is
necessary to know a little of its history and
how it has been fundamental for the
development and applications that are
increasingly found in society and in the
industry, its use in the different recreational
educational fields and others , its way of
assembling it, its programming, in general
knowing the most general thing about this
project and as we the students of the Military
University New Granada we made our
version of this sensational robot.
Also explain how to adapt a joint to this
mobile robot (gripper) simulates the moment
of grip of one hand, these are the most
commonly used for the transport of different
objects from one place to another.
KEY WORDS: Robot, education,
Programming, Assembly, Materials.
INTRODUCTION
In the following pages, everything known
about the robot will be treated as an
implement in the development of the student
field at the university level, in its daily
activities such as its history, its operation, its
Estudiante
Docente
manufacture, materials and others for this we
must rely on the best sources.
The articles reviewed suggest that
educational robotics generally acts as an
element that improves learning.
(1) According to (Albero, Blanes, Benet,
Simo, & Perez) robotics begins to open a
range of possibilities, limited only by the
human capacity to carry them out. One of
these possibilities, which man has imagined
for decades, but without being able to carry
out until a few years ago, with the same or
very similar motor characteristics. In addition
to the mechanical system obtained, a planar
control of the robotic platform is carried out.
This type of control, despite being a simple
control of the system, will help us to observe
the mobility of the system, and thus be able
to propose possible improvements to the
model.
(2) Identify the potential contribution of the
incorporation of robotics as an educational
tool in schools, the content to be taught with
the help of robotics, the type of robot used,
the research method used and the
characteristics of the sample (sample size,
age range of students and / or level of
education), which will help to understand the
importance of robotics in mobile
development.
(3) Mobile robots are characterized by their
ability to move autonomously in an unknown
or known environment. Its different
applications cover a wide variety of fields,
including underground work (mining, tunnel
construction, sample and object collection)
and others. In all these applications the most
important justification for the application of
robotics is the difficulty or impossibility of
human intervention, either direct or
teleoperated.
(4) Mobile robots are generally autonomous
and perform tasks such as the movement and
transport of materials. Wheel-based
locomotion is the simplest and most efficient
solution to achieve mobility on slightly
inclined homogeneous surfaces, allowing
relatively high speeds, this requires several
essential knowledge for the operation of
these, which can be sensors, signal
processing, control, programming, among
others.
(5) The objective of this study is to explore
critical design issues for educational robotics
training fields and describe how these factors
should be implemented in the development of
such fields.
The data were analyzed using qualitative data
analysis techniques and classified into topics:
instruction, group problems, competence,
training, technical problems, challenges and
duration of the camp.
The highlighted findings indicate that
instructional strategies for a robotics design
should be simple to complex.
(6) The robotic arm can be defined as the set
of electromechanical elements that favor the
movement of a terminal element (gripper or
tool). The physical constitution of most of
these manipulators bears some similarity with
the anatomy of the upper extremities of the
human body, so, sometimes, to refer to the
different elements that make up the robot.
A robotic arm is a type of mechanical arm,
normally programmable, with functions
similar to those of a human arm; This may
be the total sum of the mechanism or it may
be part of a more complex robot. The parts of
these manipulators or arms are interconnected
through joints that allow both a rotational
movement (such as those of an articulated
robot), such as a transnational movement or
linear displacement.
(7) Sub-acted robotic hands have great
adaptability that allows them to grip objects
of different shapes and sizes. The
development of a clamp with rigid and rigid-
flexible fingers of two degrees of freedom,
sub-actuated allows the robot to have the
relative information of the pressure
distributions during the grip. In addition, the
results of the behavior of two hybrid fingers
with flexible surfaces of different materials
are presented and compared in terms of
flexibility and pressure distribution when a
person's arm is grasped by the wrist.
CONTENT
HISTORY OF MOBILE AND AGARRE
ROBOTICS WITH GRIPPERS
The origin of mobile robotics is a science that
has accompanied the human being during its
evolution, combining with our daily life and
providing an evolutionary development in its
different fields of application, starting from
manipulative robots, entertainment and
service robots, to robots mobile, is connected
with the origin of man and his eagerness to
devise tools to facilitate daily tasks.
Within the technological world, robotics
consists of the design, construction,
manipulation and programming of robots.
Probably the origin is in the urgent need to
look for alternatives to facilitate and optimize
any productive task. In the history of
humanity the invention has always been
present as an indispensable tool for personal,
social and technological development.
Mobile robots are an important focus of
current research and almost every major
university has one or more laboratories that
focus on mobile robot research. Mobile
robots are also found in industry and services.
In the attempt to evolve the operation of a
mobile robot a claw or gripper tool called
gripper is implemented, which are devices
that mimic the movements of people
specifically that of the fingers in the case of
the clamp. A clamp holds an object so that it
can be manipulated. It has the ability to retain
and release an object while executing some
movement action, they are custom-made,
specialized tools that are used to hold the
object and are known as "grippers".
Robots can perform tasks faster than humans
and in a much more consistent and precise
way, some advantages that they present are
becoming more common every day:
1. Greater precision, without fatigue
2. Dangerous tasks.
3. Expanded Reality.
4. Greater speed.
5. They can do tasks that are mortal
for humans.
6. They can help you with quick
tasks
MATERIALES UTILIZADOS
For the assembly, programming and
everything related to the construction of our
robot, we use the following materials .
•Arduino one
• Bluetooth HC-05
• Bridge H L298N
• Two servomotors with their respective
wheels
• Micro servo 9g SG900
• A gripper
• Cable bridges
• Crazy wheel
• Cardboard and paints for the external
assembly of the mobile robot.
MONTAJE
For the assembly of the mobile robot with
grip (gripper) it was necessary to have certain
materials according to the desired size, it is
important to mention that being a small robot
(approximately 15 cm wide by 15 cm high) a
light weight was sought in the components to
use.
For this, an acrylic was used, which was the
basis for incorporating and sustaining the
materials to be used in which the entire
mechanism and different gears are hidden so
that it is easier to manipulate and does not
present problems with the connections of the
keys outside. of the console, and also has a
built-in Arduino UNO sound sensor so that it
is more didactic when handling it and
perform the different grip activities.
It brings two outputs in which the pieces are
assembled so that the toy has its respective
movement at the time of connecting it to the
power source in this case a 9-volt square
alkaline battery that at the time of ignition
connects to the cell phone through a device
bluetooth. (assembly of materials used)

For the external part of the robot, a gripper

was used with its respective engine and
cardboard was used to give the mobile robot
a desired shape, which was painted and
decorated to give it a pleasant presentation
that was easy to assemble and disassemble
since the energy component it had to be
removed or placed depending on the use they
are destined for, making its operation have
the equivalent of the power to walk and grab
like the one that was intended to be achieved.

To start, the grades of each servo were

searched, this in order to place it in the proper (parts for robot assembly)
grade for later operation.
Having the servos in the correct grades and
the appropriate holes for the assembly of the
pieces, the assembly process was carried out,
for this it was important to have the
information provided by the teacher and the
information provided on the internet.

A clearer vision of the objective we wanted

to achieve was provided by the teacher when
(arduino UNO card) he found on the page: robotics.umng.edu.co

(bluetooth hc-05)

(Robot assembly)
Having all the assembly done, the Arduino
program was downloaded as a tool to the
programming of our card, where the signal
was sent to each servo for their movement.
And it was connected to the cell phone
through an application which, through
bluetooth, makes the mobile robot work
(operation and start of the toy)
ANALYSIS
Seeing the different performances that the
parts offer us and of course everything related
to the electronic devices necessary for the
development and operation of a mobile robot
with grip, in what becomes a complex action
at the beginning, the teachings on technology
and Likewise, it strengthened different areas
in which these robots are fundamental for
creativity and problem solving. Thus, this
robot is a didactic process in which they can
not only strengthen the aforementioned areas
but also that they can also enter the world of
technology and thus continue to innovate in a
world as complex as it is today, this robot
serves as an inspiration so that in the future
and in the workplace there are various
investigations and experiments that help the
human being.
The most difficult part of this assembly
process was those related to the programming
of our robot, since the objective was the
operation of the toy, so it was a complex task,
but it was achieved by obtaining a good result
in terms of its operation.
Another possible difficulty during this
learning process was the implementation of
the circuit, since when using the cables many
times they did not easily enter the servo
cables.
However, despite the difficulties presented, it
is very useful to know and understand how a
small part of robotics works, as it is important
to have the right materials for each robot.
When observing the various fields that
robotics presents, it was identified that, with
the passage of time and technology,
perfection will continue to be sought not only
for this robot, but for all kinds of artifacts or
tools that can help the human in their daily
activities.
CONCLUSIONS
 Robotics promotes learning that
facilitates the integration of concepts,
bringing theory into practice, through
experimentation with sensors, motors,
controls and chips

 In the construction of the robot, the
student can be interested in knowing
and using various sciences
 It was found that the construction of
some robots can be combined with
basic fundamentals of physics and
mathematics.
 The construction of a robot was
facilitated through the basic concepts
known to each of the teachers.
(4) Breyner Posso Bautista , Nini Juliana Vélez
Melo , Humberto Loaiza Correa (12 de marzo del
2017) “Diseño e implementación de un robot
móvil autónomo con una pinza manipuladora”
tomado de:
https://pdfs.semanticscholar.org/beee/cedb4e94d
640cf1e7fc9080f15a22dfeba38.pdf
(5) Altin, H., & Pedaste, M. (2013). Learning
approaches to applying robotics in science
education. Journal of Baltic Science
Education, 12(3), 365–377.Google Scholar

(6) Jairo Pérez P. “Diseño y Construcción de un

 Finally we can affirm that for the
elaboration of these types of
androids some materials are very
economical.
Brazo Robótico Manipulador Móvil” tomado
de:https://upaep.mx/micrositios/coloquios/coloqu
io2013/memorias/Mesa%204%20Mec%20y
%20Bio/4.-Meliton%20Fernando
%20Santiago.pdf

Jose Cabrera Lozano, agosto, 2014,

REFERENCIAS Edukative, Robótica educativa “robotica
educativa” tomado de:
https://edukative.es/definicion-robotica-
educativa/
Bibliografía
(1)Albero , M., Blanes , F., Benet , G., Simo, J.,
& Perez, P. Yabiro: Prototipo de Robot
Autónomo . Universidad Politécnica de Valencia .
(2) Fabiane Barreto Vavassori Benitti April 2012,
Pg 978-988 “Exploring the educational potential
of robotics in schools: A systematic review”
tomado de:
https://doi.org/10.1016/j.compedu.2011.10.006
(3) javier Gonazles Jimenez & Anibal Ollero
Baturone estimacion de la posicion de un robot.
tamado de:
https://www.researchgate.net/profile/Javier_Gonz
alez-
Jimenez/publication/267222718_Estimacion_de_
la_Posicion_de_un_Robot_Movil/links/54ba1f37
0cf24e50e93dd5de.pdf