Page 142 - Robot Design Handbook ROBOCON Malaysia 2019
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The design of Shagai throwing mechanism based on the catapult physics using Festo
Pneumatic Servo which pre-set the rotation degree of angle for the Shagai to have the
consistence flipping rate and land on the ground with the same surface of the Shagai [1].
0
Figure 3: Initial Position with θ1=30 0 Figure 4: End Position with θ2=90
Gerege Passing Mechanism
Figure 5: Shows the pneumatic gripper
Festo pneumatic gripper is used to hold the Gerege and release with the combination
of roller limit switch. A roller limit switch is mounted on the bottom of the pneumatic
gripper. When passing the Gerege to the MR2, the MR1 moves along the game field wall
with the Gerege slides into the MR2’s Gerege holder and trigger the roller limit switch to
give signal to the micro-controller to send a command and rapidly release the Gerege into
the holder.
2.0.2 The MR2 Mechanical Design
The diagram below (Figure 6) shows the overall design of the top mechanism of the
autonomous robot.
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