Diseño, construcción e implementación de fuente de poder y sistema de monitoreo de estado para robot bípedo.
Loading...
Date
2026
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Universidad de Concepción
Abstract
Las máquinas autónomas son cada vez más importantes en numerosos aspectos de la vida cotidiana. El impulso reciente en el desarrollo de robots y drones de alta dinámica ha sido posible gracias al progreso de la tecnología en baterías y motores más pequeños, densos en energía y más potentes. Sin embargo, estos avances en baterías también las hace más vulnerables a fallas catastróficas si no se operan en condiciones seguras. Por esta razón, es indispensable contar con sistemas que gestionen la energía y aseguren un funcionamiento predecible y seguro. Este documento da cuenta del diseño, la construcción y la implementación de un sistema de energía y monitoreo para el Robot bípedo B1P0, creado en la Universidad de Concepción. Su objetivo principal es proveer un sistema de alimentación completo que, usando una sola batería de Litio (LiPo), pueda dar energía a los motores de alta dinámica que utiliza el robot y, al mismo tiempo, alimentar los componentes electrónicos más sensibles como sensores y controladores. Para el sistema de administración de baterías (BMS), se utilizan los circuitos integrados MP2790 y MPF42795 de Monolithic Power Systems, pareja de dispositivos que funcionan como monitor de baterías y medidor de combustible respectivamente. El conversor Buck TPS54531 de Texas Instruments es implementado, disminuyendo la tensión desde el nivel de la batería, hasta los 5[V ] requeridos, suministrando 18,8[W] con una eficiencia del 85%. En serie a este último, se utiliza el regulador lineal TLV757P de Texas Instruments, que reduce la tensión a 3,3[V ] entregando 1,65[W] a los sensores y sistemas digitales. Todo el sistema se construye sobre placas de circuito impreso (PCB) diseñadas a medida y montadas en piezas impresas en 3D propias, prestando especial atención a la interacción con otros dispositivos de control y la disipación del calor en los convertidores. Se desarrolla una librería en C/C++ para el monitor de batería, accediendo a los 599 registros del monitor por medio del protocolo I2C, entregando una serie de métodos y parámetros para una comunicación de alto nivel con el integrado. Finalmente, se realizan pruebas para asegurar que los parámetros elegidos y componentes seleccionados funcionen adecuadamente de forma estable y segura. En definitiva, se consigue entregar una solución completa y validada para el complejo sistema de energización autónoma del robot.
Autonomous machines have become increasingly important in multiple aspects of daily life. The recent advancement on the development of high-dynamic robots and drones has been made possible thanks to the progress in battery and motor technology, which are now smaller, denser in energy and more powerful. However, these advances in batteries also make them more vulnerable to catastrophic failures if not operated within safe conditions. For this reason, it is essential to have systems to harness their power and ensure their predictable and proper operation. This document reports the design, construction and implementation of a power and monitoring system for the B1P0 biped robot, created at the Universidad de Concepción. Its main objective is to provide a complete power system that, using a single Lithium battery (LiPo), can power the high-dynamic motors used by the robot and at the same time, power the most sensitive electronic components such as sensors and controllers. For the battery management system (BMS), MP2790 and MPF42795 integrated circuits from Monolithic Power Systems are used, a pair of devices that function as battery monitor and fuel gauge respectively. For voltage conversion, TPS54531 integrated circuit from Texas Instruments is implemented as a Buck converter, stepping down the voltage from the battery level to 5[V ], supplying 18,8[W] with an efficiency of 85%. In series to this converter, TLV757P from Texas Instruments is used as the linear regulator to reduce the voltage to 3,3[V ], providing 1,65[W] to sensors and digital systems. The entire system is built on custom-designed printed circuit boards (PCB) and mounted on own 3D printed parts, paying special attention to the interaction with other control devices and heat dissipation in the converters. A C/C++ library is developed for the battery monitor, accessing the 599 registers of the monitor through the I2C protocol, providing a series of methods and parameters for high-level communication with the integrated circuit. Finally, several tests are executed in order to verify that the parameters and devices chosen function properly in a stable and safe manner. Ultimately, a complete and validated solution is given for B1P0’s complex autonomous energization systems.
Autonomous machines have become increasingly important in multiple aspects of daily life. The recent advancement on the development of high-dynamic robots and drones has been made possible thanks to the progress in battery and motor technology, which are now smaller, denser in energy and more powerful. However, these advances in batteries also make them more vulnerable to catastrophic failures if not operated within safe conditions. For this reason, it is essential to have systems to harness their power and ensure their predictable and proper operation. This document reports the design, construction and implementation of a power and monitoring system for the B1P0 biped robot, created at the Universidad de Concepción. Its main objective is to provide a complete power system that, using a single Lithium battery (LiPo), can power the high-dynamic motors used by the robot and at the same time, power the most sensitive electronic components such as sensors and controllers. For the battery management system (BMS), MP2790 and MPF42795 integrated circuits from Monolithic Power Systems are used, a pair of devices that function as battery monitor and fuel gauge respectively. For voltage conversion, TPS54531 integrated circuit from Texas Instruments is implemented as a Buck converter, stepping down the voltage from the battery level to 5[V ], supplying 18,8[W] with an efficiency of 85%. In series to this converter, TLV757P from Texas Instruments is used as the linear regulator to reduce the voltage to 3,3[V ], providing 1,65[W] to sensors and digital systems. The entire system is built on custom-designed printed circuit boards (PCB) and mounted on own 3D printed parts, paying special attention to the interaction with other control devices and heat dissipation in the converters. A C/C++ library is developed for the battery monitor, accessing the 599 registers of the monitor through the I2C protocol, providing a series of methods and parameters for high-level communication with the integrated circuit. Finally, several tests are executed in order to verify that the parameters and devices chosen function properly in a stable and safe manner. Ultimately, a complete and validated solution is given for B1P0’s complex autonomous energization systems.
Description
Tesis presentada para optar al título de Ingeniero/a Civil Eléctrico/a.
Keywords
Construcción, Robots, Drones