Radio Frequency Controlled Hexapod Robot with Bioinspired Kinematic Configuration used for Rescue Activities after Landslides in Urban Areas

Abstract

During the year 2021, 834 earthquakes occurred with a magnitude that has varied between 3.2 to 6.1 degrees and each year the frequency of earthquakes that occurs per year increases, which is why the innovative research has been proposed under the supervision of the school of Engineering Mechatronics of the Ricardo Palma University of a hexapod robot that can locate people still alive who are buried after an earthquake. The mechanical design of the robot indicates the selection of the material for the chassis that supports a seismic force of S=20.80 N/m2, the finite element analysis of each piece, the electrical design shows the power distribution scheme of the robot consisting of 3 L293d motor modules, 3 types of HPCV 12 V micro servos, robot power consumption calculation resulting in 10.73 Watt and 850 mAmp per hour, temperature variation detection system using HC-SR501 5 V PIR with the KY-008 5 V laser module, in the electronic design the Arduino UNO controller is selected based on the robot's operating voltage of 5 V, 12 V power supply and a minimum of 12 digital inputs/outputs and the computer design indicates a diagram of flow of the operation of the robot, which was subjected to 3 tests. A test of the temperature variation detection system was carried out, having as results measured in the range of 36.5 and 37 °C, a functionality test was carried out in a closed environment and in a state of collapse, it entered and allowed to identify a person trapped and start a safe rescue, in conclusion, it was possible to obtain favorable results. For future research, it is proposed to use an autonomous navigation system, and to develop an aerial version of the robot.