Simulation and Implementation of a Wheel-Type System Architecture Using Modular Robotics

This article presents development, simulation and implementation of a wheel-type architecture implemented using the MECABOT 4.0 modular robotic system previously designed at Universidad Militar Nueva Granada (Bogota – Colombia). The main purpose of this work is to simulate (using Webots software and the C language) and implement a wheel-type configuration using eight modular robots, which will be able to offer a fast movement in a straight line from one place to another in an environment free of obstacles, and highlight the advantages that these systems bring such as: versatility in maintenance, transport and use in the various applications that require it. Functionality, stability, and speed of locomotion are evaluated through a comparative analysis between simulation and implementation results, from which a series of improvements are suggested in order to enhance speed and locomotion stability in future system versions. It was compared and analyzed positive and negative aspects of acceleration and step frequency changes for wheel-type configuration from speed as a performance indicator for the modular robotic system Mecabot 4.0.