Page 164 - Robot Design Handbook ROBOCON Malaysia 2019

Figure 1: Sprawling robot [1]
Once the 50 mark is obtained the MR2 will be allowed to climb up the hill and complete the

game. Sprawling robot is chosen as it has high stability by locating its centre of gravity at

low position, has a wider supporting leg polygon and it can easily pass through a place which
has limiting height.

Most of the four leg robot has two different types which include the sprawling robot
and mammal robot.

Table 1: Mammal types vs Spawling robot [2]

Mammal type Sprawling robot
Mammal-type quadruped robot can walk Sprawling robot has high stability, because
faster than a sprawling-type quadruped the robot can locate its centre of gravity at
robot by utilizing two actuators which are low position and have a wider supporting leg
hip and knee in each leg polygon.

2.0 DETAILED DESIGN

Figure 2s shows the motions that the MR1 and the MR2 need to perform during the

competition. To achieve this requires mechanical, electronic and software designs. In our
design for the MR1, there are four major parts which include movement of the MR1, the

passing Gerege, the lifting up the Shagai and the launching of the Shagai.

For the MR2, we have changed the design from spider robot to Klann linkage. We
change the whole the MR2 design because the motor used for spider robot breaks down.

Due to time constraint, plan B, the Klann linkage design, will replace the original plan.

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