Diseño y cálculo de unas patas articuladas que sirvan para el movimiento de una máquina tipo ROV

Abstract

This work is defined as an engineering development. In particular, a modular ROV is designed from scratch, with special emphasis on the mechanical study of the movement system. In this project, the problem to be solved is the inspection of a cement pipe that has vertical and horizontal sections with slight turning radius. In addition, the longest pipe is ten meters long and it is necessary to monitor the inside of the pipe. Each pre-designed component is proposed following mechanical, geometric, dimensional and functional rules. As for the movement system, its design is based on a bar linkage or mechanism supplied by a lead screw. In addition, the control of the ROV's movement is possible thanks to the load cells that are attached to the bars. Thus, the load cells command three stepper motors that transmit energy to the lead screws. In addition, the working stress states, the stress instructions from the load cells to the motors (for switching from one step to another), and the resistance of the motion system are calculated. Finally, it is worth mentioning a spring design due to its unusual tensions and arrangement, being a joint.