Page 114 - Robot Design Handbook ROBOCON Malaysia 2019

The MR2 is allowed to climb the Mountain when the MR1 earns 50 or above points after

throwing the Shagai. When the MR2 reaches the top of the Mountain, which is the Uukhai
zone, the MR2 has to raise the Gerege and wins the game. Team that raises the Gerege first

at Uukhai Zone will be the winner, which is called Uukhai.

In the competition, our team uses a design of four legs with horizontal alignment as

the locomotive system of the MR2. Each leg has three links, where one is linked to a Power
Window motor to be rotated and two are linked to the body which is used to fix the leg

pointing downward during the rotation. The leg’s motion is controlled by the rotation of

Power Window motor and thus it can only move forward and backward. In order to control
the direction of robot, specific combination of motion for four legs is executed and this

combination can be programmed. Each leg has two touching points to the ground so that it
can pass through the Sand Dune and Tussock stably. We used Arduino and motor driver to

programme and control the speed and sequence of rotation of Power Window motor for
each leg to achieve the required motion. Photoelectric sensors are used to synchronize the

legs to get a smooth motion. Besides, a sliding area is designed to slide the Gerege into a

container during the passing of the Gerege from the MR1 and the Gerege is raised along
with the container by using the pneumatic pump. Any modification will be made based on

the mistakes and errors occur during testing of robot’s performance.

2.0 DETAILED DESIGN

2.1 Messenger Robot 1 (MR1)

The flow of the game is that the MR1 will carry the Gerege, passing through the
Forests, bridge and then passing the Gerege to the MR2. Once the MR2 passes all the

obstacles which are the Sand Dune and Tussock, it will wait at Mountain Urtuu. The MR1
picks up the Shagai and throws it into the Landing Zone. Once 50 points are gained, the

MR2 climbs over the Mountain area to reach Uukhai Zone. After reaching Uukhai Zone, the

MR2 will lift the Gerege and the game is won. Figure 1 shows the fabricated the MR1.

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