Page 140 - Robot Design Handbook ROBOCON Malaysia 2019

UTAR from Universiti Tunku Abdul Rahman

TEAM SUPERVISOR: Danny Ng Wee Kiat

TEAM MEMBERS: Khor Jun Bin
Looi Chen Zheng
Lim Wen Qing
Tan Kai Siang
Bryan Liew Shun Yii
Sim Sheng Wei
Paw Kah Soon
Ng Wen Bin
Cheng Teck Kai
Cerene Foong Myn Li
Au Jin Cheng
Vinod Ganesan
Ong Chia Koon
Tan Jing Yi

ABSTRACT

The MR1 robot utilizes a pneumatic servo mounted on an omni-directional base to
propel the Shagai. The gripping mechanism is 3D printed and actuated by a servo motor.

The MR2 is based on the design of spider robot. It uses a total of eight servo motors to drive

four legs. The MR2 also uses two ultrasonic sensors to detect the level of the robot. Webcam
and IMU are also integrated through the use of Robot Operating System (ROS) to provide

feed-back on the orientation and position of the robot. These sensors ensure that the
autonomous robot can operate smoothly.

1.0 INTRODUCTION

The first task of the Messenger Robot 1 (MR1) is to carry the Gerege from its starting

point to Gobi Urtuu. The gripping mechanism is equiped with a pneumatic gripper and the
movement is base on mecanum base omni-directional movement. After reaching the Gobi

Urtuu, the MR1 has to pass the Gerege to the Messenger Robot 2 the MR2 using the same

pneumatic gripper. Once the spider-like MR2 receive the Gerege, it will walk by following
the line on the path using opencv, then it will pass through those obstacles through pre-

programmed move. After it reaches Mountain Urtuu, the MR1 will enter the Throwing Zone
and throw the Shagai using pneumatic servo based throwing mechanism. After earning 50

points, the MR2 will be allowed to climb the Mountain to reach Uukhai Zone. Once the

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