Page 156 - Robot Design Handbook ROBOCON Malaysia 2019

fixed vertically on the base of the body with the dimension of 20 mm bore size and 200 mm

stroke. A pressure tank made of one soda bottle is connected to a solenoid valve with 1-7
bars operating pressure range and linked to the pneumatic cylinder. The pressure is set at

one bar and this has been proven to give the best performance from the trial-and-error tests.
Then, two grippers are arranged vertically parallel to make sure that the gripper grips the

Gerege properly. Also, a bowl-shaped metal is fixed under the gripper mechanism in order

to provide further support. This system will be fixed at the back of the MR2 to reduce the
movement of the MR2 while lifting the Gerege. For the detection system, two ultrasonic

sensors are used. One of the sensors is fixed on the pneumatic cylinder and another is fixed
on the grippers. The full assembly of lifting mechanism is shown in Figure 11.

2.2 Electronic Design

The electronic system for both robots acts as the conductor in translating the

mechanism to the desired movement based on the required task and operations. In both
robots, Arduino Mega micro-controller is used as the motherboard and main processor of

the system. The electronics and batteries are housed in a box with cables penetrating out to
the sensors, pneumatic and motors. The motors are mounted on optimized positions within

the frame for ease of robot’s movement.

2.2.1 Arduino Microcontroller

Figure 12: Arduino Mega

Arduino Mega is a micro-controller that uses ATmega2560 microchip. It has 54

digital input/output pins in which 14 pins can be used as digital (PWM) outputs, 16 pins for
analog inputs and four pins for UARTs (hardware serial ports) with a 16 MHz crystal

oscillator, USB connection capability, an ICSP header, and a reset button. The capability of

the Arduino Mega is considered sufficient for such operation in both manual and auto robots.
Furthermore, this will ease the implementation phase.

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