Design and implementation of a remote controlled excavator using a microcontroller and 3D printing

Abstract

[ES] El objetivo de este proyecto es diseñar una excavadora manejada remotamente por radio que se controlará mediante un microcontrolador. Las piezas para el cuerpo de la excavadora se diseñarán mediante CAD y se imprimirán en 3D para el montaje. Los componentes eléctricos utilizados, como actuadores lineales, motores y controladores de motor, se agregarán para realizar los diferentes movimientos de la excavadora. Se conectará un mando de videoconsola PS2 inalámbrico para controlar fácilmente el vehículo por radio con la ayuda de los joysticks y los botones. Todo estará conectado al microcontrolador que controlará todo.

[EN] This project seeks to design and build a radio-controlled excavator using 3D-printing and a microcontroller. This project aims to investigate how a radio-controlled excavator can be built using 3D-printing technology for creating the parts and a microcontroller for connecting all the electronics. The final product should resemble a real excavator both in design and the way it is controlled. The project is divided into three parts: design, programming, and assembly. The design is made in CAD using the software Autodesk Inventor. A complete assembly is created in CAD including all parts before they are 3D-printed. Programming of the microcontroller for controlling all motors and linear actuators with the wireless controller is done using Arduino IDE. The final phase is the assembly where 3D-printed parts are mounted together with the electronic components to form the final product. The result satisfies the scope of the project. The excavator has all the main functions like a real one, including driving, rotating, and moving the arm. It is controlled using two joysticks together with a couple of buttons. Few amounts of flaws can be found, including not being able to turn. Improvements for a next version includes upgrading the motors for driving, using the same linear actuators in all three places, and creating a lock preventing the rotational gear to fall apart.