Page 141 - Robot Design Handbook ROBOCON Malaysia 2019

MR2 reaches the Uukhai Zone, it will raise the Gerege using the top mechanism and it will
stop.

2.0 MECHANICAL DESIGN

2.0.1 The MR1 Mechanical Design

Shagai Gripper Mechanism

Figure 1: Initial and gripping angle of servo motor

The gripper mechanism is made up by a power window, a servo motor and a 3D
printed part which is designed according to the dimension of the Shagai. The bar with 3D

printed part is controlled by a servo motor and it is positioned to be aligned with another

side of the Shagai. When the gripper is closed, it will fit the Shagai tightly. Then, the power
window will rotate the horizontal bar to move the Shagai on the throwing mechanism as the

rotating motion is constrained by limit switches to obtain the desired position. The servo
motor is rotated back to its initial angle to release the Shagai when it stopped at the desired

position.

Shagai Throwing Mechanism

Figure 2: DSRL-25-180-P-FW Pneumatic Servo (https://www.kiowa.co.uk/10050587-
P00031872/DSRL-25-180-P-FW-Festo-Semi-rotary-drive)

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