Design and document the system integration for your final project

Have you answered these questions?

  • implemented methods of packaging? ✅
  • designed your final project to look like a finished product? ✅
  • documented system integration of your final project? ✅
  • linked to your system integration documentation from your final project page? ✅
Project Design


To develop the integration system for my final project, I will use Autodesk Inventor software to design in both 2D and 3D. This project will integrate several manufacturing processes, which will be detailed step by step. I am quite happy developing the entire integration component of my project, as the knowledge I have learned has allowed me to delve deeper and gain a better understanding of the project.

1.-Mechanical design

The robot's structure combines the all-terrain mobility principles of space rovers with the structural efficiency of natural organisms, achieving a design that is not only robust and adaptable, but also aerodynamic. In this research, Autodesk Inventor software with generative design tools is used to optimize the structure's weight and strength.

1.1 Preliminary design


1.2 Generative design

Continuing with the "Inventor" software, we'll use one of its most advanced tools for structural mechanical design. Generative design is a technique that uses artificial intelligence and algorithms to create multiple design solutions based on certain parameters such as weight, strength, or cost.

In our case, to use this tool we will have our 3D model open and select the following icon:

It will load the following environment, which is just as intuitive as the other environments. In this environment, we must assign the work areas to which it will be subjected, for example: gravity, weight, torque, pressure, etc.


Once the working parameters have been set, we will proceed to load the generative design calculation:

obtaining the preliminary model

First generative isometric chassis design.


First generative design, chassis plan view.

First generative design, bottom view of the chassis.


1.3 Biomimicry design

The design process focused on reducing the chassis's weight and volume through the application of biomimicry, i.e., imitating solutions that already exist in nature. In this case, the shape and organization of the armadillo's bone structure were studied in detail. This animal's natural armor allows it to withstand impacts while remaining agile.


main structure

preliminary robot design


2.- 3D printing of parts

For printing the parts, we have exported the generated files in STL format. For printing small parts, the Bambu Lab printer was used, and for larger parts, the Proxy printer was used.





3.-Electronic Integration

To perform electronic integration, we must make a list of the components we will use for the project:

  • XIAO ESP32-C3
  • ROB-14450 – Motor driver
  • L7805CV – Voltage regulator
  • Polarized capacitor
  • Ultrasonic sensor
  • Servomotor
  • WS2812B LED strip

3.1 schematic diagram

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3.2 PCB layout design

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3.2 3D visualization

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3.3 Component layout

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4.-Programming: Interface (web page)

To begin programming the Xiaoesp32-c3 module, we'll start with the interface, as it will allow us to view all the robot's functionality. We'll use the Google Sites tool:

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We will upload the HTML Code, once the Code is inserted we click on the following:

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we will have a preview of the interface

4.-Using the Arduino IDE

To perform the readings and functional tests, I used the Arduino IDE with the XIAO ESP32-C3.


 // Motor control with Xiao ESP32-C3 and L298N using Bluetooth Low Energy (BLE)
#include <BLEDevice.h>
#include <BLEUtils.h>
#include <BLEServer.h>

// Pin definition for the L298N controller
#define IN1 6  // Motor 1 - Dirección
#define IN2 7  // Motor 1 - Dirección
#define IN3 8  // Motor 2 - Dirección
#define IN4 9  // Motor 2 - Dirección
#define ENA 5  // Motor 1 - Velocidad (PWM)
#define ENB 10 // Motor 2 - Velocidad (PWM)

// Bluetooth Low Energy (BLE) Setup
BLEServer *pServer = NULL;
BLECharacteristic *pCharacteristic = NULL;

#define SERVICE_UUID "4fafc201-1fb5-459e-8fcc-c5c9c331914b"
#define CHARACTERISTIC_UUID "beb5483e-36e1-4688-b7f5-ea07361b26a8"

void setup() {
    Serial.begin(115200);
    
    // Output pin configuration for the motor
    pinMode(IN1, OUTPUT);
    pinMode(IN2, OUTPUT);
    pinMode(IN3, OUTPUT);
    pinMode(IN4, OUTPUT);
    pinMode(ENA, OUTPUT);
    pinMode(ENB, OUTPUT);
    
    Stop(); // Ensure the motors are stopped at startup

    // Configuración del módulo BLE
    BLEDevice::init("Rover ESP32C3");
    pServer = BLEDevice::createServer();
    BLEService *pService = pServer->createService(SERVICE_UUID);
    pCharacteristic = pService->createCharacteristic(
                        CHARACTERISTIC_UUID,
                        BLECharacteristic::PROPERTY_READ |
                        BLECharacteristic::PROPERTY_WRITE);
    pService->start();
    BLEAdvertising *pAdvertising = BLEDevice::getAdvertising();
    pAdvertising->addServiceUUID(SERVICE_UUID);
    pAdvertising->start();
}

void loop() {
    // Check if a command has been received via BLE
    if (pCharacteristic->getValue().length() > 0) {
        String command = pCharacteristic->getValue().c_str();
        Serial.println("Recibido: " + command);

        // Interpretar el comando recibido
        if (command == "F") forward();  // Avanzar
        else if (command == "B") backward(); // Retroceder
        else if (command == "L") left(); // Girar izquierda
        else if (command == "R") right(); // Girar derecha
        else if (command == "S") Stop(); // Detener motores
    }
}

// Function to move the rover forward
void forward() {
    digitalWrite(IN1, HIGH);
    digitalWrite(IN2, LOW);
    digitalWrite(IN3, HIGH);
    digitalWrite(IN4, LOW);
    analogWrite(ENA, 200); // Control de velocidad con PWM
    analogWrite(ENB, 200);
}

// Function to move the rover backward
void backward() {
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, HIGH);
    digitalWrite(IN3, LOW);
    digitalWrite(IN4, HIGH);
    analogWrite(ENA, 200);
    analogWrite(ENB, 200);
}

// Turn left function
void left() {
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, HIGH);
    digitalWrite(IN3, HIGH);
    digitalWrite(IN4, LOW);
}

// Turn right function
void right() {
    digitalWrite(IN1, HIGH);
    digitalWrite(IN2, LOW);
    digitalWrite(IN3, LOW);
    digitalWrite(IN4, HIGH);
}

// Function to stop the motors
void Stop() {
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, LOW);
    digitalWrite(IN3, LOW);
    digitalWrite(IN4, LOW);
}

Conclusions:

In conclusion, laser cutting machines offer numerous advantages, such as high cutting precision, fast speed and wide adaptability to materials. However, they also have some limitations, such as the high cost of equipment and the high qualification requirements for operators.A Laser Cutter is a technological tool that cuts materials through a CO2 (carbon dioxide) tube. Work from a predetermined vector (design with specialized software), which will cut, mark, engrave or score to obtain the required piece. Thanks to the sophisticated technology of the Laser Cutter, it is currently possible to work with any type of material, so that it is an exact copy of what we imagine.

  • The development of the police robot demonstrated that it is possible to integrate electronics, programming, mechanical design, and wireless communication components to create a functional autonomous system.
  • Thanks to the use of sensors (such as ultrasound), communication modules (BLE/Wi-Fi) and microcontrollers (Xiao ESP32-C3), the robot is able to detect obstacles, receive remote commands and execute actions in real time, simulating patrol or surveillance functions.