DESENVOLVIMENTO DE VEÍCULO NÃO TRIPULADO E ENERGETICAMENTE EFICIENTE UTILIZANDO MECANISMO ROCKER-BOGIE E DIAGRAMA DE ACKERMAN

Abstract

This work presents the development of an unmanned vehicle with 6x6 all-wheel drive, designed to operate on irregular terrains, with applications focused on agricultural automation and hard-to-reach environments. The methodology involved 3D modeling, manufacturing components through laser cutting, machining, wire electrical discharge machining (EDM), and 3D printing, as well as implementing Ackermann geometry in the steering system. The structure was built using aluminum profiles and mechanically robust components, and the power supply was provided by a combined system of lead-acid stationary batteries and photovoltaic panels, aiming for energy efficiency and sustainable operation. The results demonstrated good structural stability and efficiency in overcoming irregular terrains and gentle inclines in straight-line motion. However, significant limitations were identified in the steering system due to insufficient torque of the servomotors and the traction system, with loss of adhesion on grassy surfaces. Despite these limitations, the developed system validates applying the rocker-bogie mechanism in terrestrial environments. It represents a promising foundation for future studies in agricultural automation and exploration of challenging terrains. Suggested improvements, such as replacing the motors with more robust components and optimizing the structural design, can significantly enhance the vehicle's efficiency and applicability.