Design of a Mobile Manipulator Robot Prototype for Drilling in Underground Mining

Iriarte-Zambrano F.; Rojas-Davila A.; Sotomayor-Beltran C.; Briones-Zuñiga J. · International Journal of Engineering Trends and Technology (2025) · DOI: 10.14445/22315381/ijett-v73i4p120

Resumen

This study presents the design and development of a mobile manipulator robot prototype intended for drilling in underground mining. The robot integrates a track-based traction system and a drilling arm, both controlled by a Raspberry Pi-based control unit. Equipped with LIDAR and proximity sensors, the robot can map and analyze its environment in real time, enhancing safety and efficiency in mining operations. The methodology includes kinematic and dynamic modeling of the system, using Denavit-Hartenberg and Euler-Lagrange equations and the simulation of movements and trajectories in MATLAB and RoboDK. This approach optimizes the robot's performance in hostile environments, reducing risks for workers and increasing productivity. The results indicate improved capacity to operate in extreme conditions, highlighting the feasibility of the robot for implementation in underground mining. This advancement promises a significant reduction in costs and improvement in safety, marking an important step towards automation in the mining industry.

Instituciones: Universidad Tecnológica del Perú