Development of a chain-based mobile robot

Mobile robots, equipped with a robot arm, are used in a wide range of industry and research missions. In this paper the development of the system architecture, which follows an embedded system approach, is presented. The mobile robot platform is remote controlled. The networking of the electronic units of the mobile robot platform via ethernet and CAN and the data management is discussed. Two NUCLEO-F767ZI microcontroller boards, using an RTOS, implement the hardware-related functionalities. The design and operation of the three main components of the mobile robot platform, the chain-based chassis, the 5-DOF robot arm and the drilling unit are shown.