Page 110 - Robot Design Handbook ROBOCON Malaysia 2019

3.0 SIMULATION AND TESTING

3.1 Simulation and Testing for the MR1
The robot by simulations was capable of throwing the Shagai into the Throwing

Zone. However, the simulation software had a different result from the first prototype as the

simulation did not consider human error and several resistances in real life such as pressure
leakage.

During testing on the prototype, the Shagai did not reach the Landing Zone as what

the simulation shown. However, the Shagai throwing distance had improved over time as
we made improvements.

3.2 Simulation and Testing for the MR2

The robot by simulations was capable to walk forward and turn left or right using

the locomotion with two legs contacting ground at half walking cycle. The robot was also
able to stand on two legs and maintain. However, the simulation software was unable to

simulate the actual weight due to limitation of the simulator on the robot design structure.

During testing on the physical robot, it was unable to maintain balance on two legs

and propel forward with two legs because the centre of gravity is behind the centre of the
body, thus more weight was shifted to the back leg and the servo motors of the back leg was

unable to handle the weight. Further testing is required with a different locomotion. Most of

the servo motors did not rotate to the desired angular position although given the same signal
so the servo motors require configuration to align them.

4.0 CONCLUSION, LIMITATIONS & RECOMMENDATIONS

The MR1 was unable to make perfect throw into the Landing Zone due to several

human error and leakage. New piping and cylinders will be replaced and made stronger to
avoid any leakage in the future.

The MR2 was unable to use the fastest locomotion with two legs contacting the
ground at half a walking cycle to walk forward. Servo motors have syncing issues so they

require servo motor synchronizer or replace the servo motors with DC geared motors and

angular position sensors.

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