Design and Construction of a Cost-Oriented Mobile Robot for Domestic Assistance

Abstract —This paper presents the design and development of a cost-oriented mobile robot for domestic assistance. The design of the mechanics, electronics and software necessary for the operation of the robot is detailed, as well as the tests carried out to ensure its correct operation. Concluding that the controllers, kinematics, and odometry work correctly providing a measurement that is close to the real one. The developed robot can be easily equipped with multiple actuators to make it useful in different social tasks, such as: elderly supervision robot, medicine supply robot, companion robot for dependent people, telecare robot, among others. The robot design is focused on allowing its easy replication to be freely used in a large number of domestic applications. As future work, the development of a SLAM algorithm that allows the robot to operate autonomously is proposed.