Robot Cuadrúpedo para la Educación STEAM

Abstract

The integrative project focuses on the design and simulation of a quadruped robot aimed at the educational field, with the objective of providing a practical and accessible tool for learning key concepts in mechatronics, such as mechanical design, electronics, and programming. The robot was developed from scratch using CAD tools, integrating 3D printing technologies to fabricate its main components, and featuring a modular design that facilitates assembly and maintenance. The transmission system uses high-precision serial servomotors to control the joints, combined with a bar mechanism that ensures efficient and stable movement. Additionally, the design incorporates materials such as PLA and TPU, selected for their strength and ability to provide stability and grip in the extremities. In terms of control and simulation, the robot was validated in virtual environments using ROS 2 and Isaac Sim, ensuring optimal performance before its physical construction. These tools allowed the implementation of basic control algorithms to explore fundamental concepts, positioning the robot as a versatile resource for teaching at introductory university levels. Finally, this project offers a replicable and scalable solution aligned with Sustainable Development Goals 4 and 9, promoting innovation in technical education and access to affordable and high-quality learning technologies.