Since 2020, there has been a critical health situation in the entire population of Peru due to the appearance of the COVID-19 virus. People who have to work or leave home, put their families at risk because they can infect or transmit the virus. Therefore, this research, conducted under the supervision of the School of Mechatronics Engineering of the Ricardo Palma University, aims to design a mobile robot that emits ultraviolet-UV rays for the disinfection of rooms in houses, in order to disinfect possible contaminated areas. The robot has a mechanical design that consists of 4 mecanum type wheels and a robotic arm of 2 degrees of freedom -DOF. The motion system is controlled by 4 direct current-DC motors and its respective controller, connected to the Raspberry Pi microprocessor, and it is also powered by 2 batteries of 12 V. The robot's function is to sterilize the virus both with its main structure and its extension. This study presents a mechatronic conceptual design using SolidWorks 2020 software for the development of the 3D mechanical systems, Proteus 8 for the technical schematics of the electrical and electronic circuits, and in addition, MATLAB 2020a for the kinematic motion tests of the robotic platform and Gazebo for the motion simulation. This paper has centered on the study of the platform motion and its mechanical design. In conclusion, due to the good results of the mobile prototype and UV rays as a disinfection method, the integration of the first prototype is planned for February 2022 for its first application in some houses in Peru. © 2021 IEEE.
Mechatronics Design and Kinematic Analysis of Mecanum Wheeled Mobile Robot for Covid-19 Disinfection with UV Rays applied on Indoor Environments