Desarrollo de una plataforma móvil omnidireccional orientada a robótica automatización industrial

Abstract

Industrial automation has established itself as a strategic pillar for optimizing production processes, with mobile robots offering a versatile solution by enabling autonomous movement across complex surfaces and executing tasks in areas that are difficult to access. In this context, this research focuses on the design, construction, and experimental validation of an omnidirectional mobile platform intended for industrial automation applications, evaluating its structural performance, dynamic stability, speed control, and energy autonomy. The methodology included 3D modeling in Autodesk Fusion 360, finite element structural analysis in ANSYS Static Structural, and ROS integration for communication, control, and navigation management. A Proportional–Integral controller was implemented for wheel speed regulation, supplemented by odometry tests, robustness analysis under mechanical disturbances, and evaluation of energy consumption under different load conditions. The results demonstrated a safe operating range for loads below 48.16 kg. A maximum odometry error of 5.72% was recorded using internal estimation without external correction sensors. Energy autonomy ranged from 8 to 9 hours without additional load and from 3 to 5 hours with load, demonstrating the platform’s technical feasibility. Overall, the project offers a low-cost, open-architecture alternative for the development of industrial mobile systems, facilitating their integration into internal transport processes, operational support, and academic experimentation, thereby strengthening the adoption of technology and applied research in mobile robotics.