Ackerman Mobile Robot with Arm

This work presents the design of a wheeled mobile robot (WMR) using an Ackerman configuration. Its design uses the extruded aluminum profile widely used in industry, facilitating the assembly of new robotics projects. The design is carried out using CAD software and shows some of the various benefits of these tools. The environmental impact values for a bar of extruded aluminum profile throughout its lifecycle was calculated and, later, analyzed by using SolidWorks simulationXpress study to improve the sustainability of the WMR design. Additionally, images of both the 3D model and the real prototype are presented.

I. Introduction

The WMR is one of the most relevant types of robots. WMRs are employed in planetary exploration, mining, inspection and, surveillance, rescue squads, hazardous waste cleanup, medical assistance, among others. Regarding the scientific scope, most of the research examines control problems [1], such as trajectory tracking [2]–[10], and obstacle avoidance [11]–[16]. These control tasks can be simplified by the proper design and, construction of the WMRs.