Page 105 - Robot Design Handbook ROBOCON Malaysia 2019
P. 105
Figure 5: Fast Vietnam ROBOCON robot. [6]
Figure 6: Simplified dual- joints configuration.
2 = 1.4142 − ( 1) (1)
The robot in Figure 5 has difficulty turning left or right and the MR2 is required
to turn in order to overcome the obstacles in the Gobi Area. Therefore, a motor is added
to each front leg to perform horizontal rotation so the robot can turn similar to a turning
left or fight.
The leg structure of the MR2 was decided to have dual-joints configuration
which is the same as the robot in Figure 5. Each leg will have four servo motors with
two servo motors controlling each hip joint. The servo motors chosen were RDS3128
servo motors which were bought from RobotEdu [7] while the motors that turn the front
legs were MG995 servo motors that were available in MRC. The RDS3128 servo motor
has a maximum torque of 25kgcm at 7.2V with maximum current consumption of 3.2
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