Page 127 - Robot Design Handbook ROBOCON Malaysia 2019

Table 2: Difference in distance travelled

Distance travelled in 10 cycle /mm Distance slipped in 10 Difference in
cycle /mm percentage /%
Theoretical Experimental
3200 3018 182 5.69

Calculation of the angle during each cycle:

tan Ө = 320/600
Ө = 28.1°

In addition, sensors were added to each “legs” to make the movement synchronised.

It is placed at the position where the “legs” will be scanned at its vertical position. However,
the sensor will detect an extra pulse on each cycle. Hence, a function was added in the

programme that ignore the extra pulse on each cycle. The number of skip pulses is two and

three depending on the position of the sensors.

4.0 DISCUSSION

As stated in the rules, the MR2 should be a fully automated robot without manual

controlled. The MR2 of our team has several pros and cons, these are discussed below.

One of the biggest strengths of the MR2 is its fast speed. Through the four-legged

mechanism and the usage of power window motor, it can run at a high speed and gives our
st
team a huge advantage when moving in the straight path (1 obstacle). For the Sand Dune
and the Tussock area, we try to let the robot passed these obstacles by improving our
mechanism, these includes using three-points movement leg with two contact points to the

ground and the usage of strong rubber band at robot’s leg in order for the MR2 to pass the

obstacles easily. The robot is also very stable and not easily topple over even when passing
the Sand Dune due to a large base and stable centre of gravity.

On the other hand, our robot also has a number of weaknesses. Due to our lack of

actual competition’s experience, we were unable to fabricate a robot to fully pass all

obstacles and complete Uukhai. Our robot faced problem while trying to pass the third
obstacle, the Tussock area as two of the robot’s leg often get stuck with the ropes. We tried

to solve this problem by installing the rubber band and also fully utilized the usage of “retry”

as our strategy and tactic to pass the obstacles. In the future, we will try to complete the
robot by enabling the Uukhai (raising of the Gerege) while improving on our Tussock area

passing ability. As a lot of time is wasted in retrying, we intended to improve our turning

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