Page 191 - Robot Design Handbook ROBOCON Malaysia 2019

The cuboid supporting frame is made as such that it is shown and simulated using

Autodesk Fusion 360. With the working simulation of the motion of the robot, we designed
the dimension of the structure according to the specification as shown in Figure 2.

The four legs of the MR2 are powered by a motor each at the bottom of the frame,

with their extension fitted into a hollow shaft at the top that allows stronger support. A lever

is attached to the motor with an encase ball bearing installed on the other end.

Each motor will rotate its lever, driving the respective legs forward in order to induce

motion. The front right foot and the back left foot will have their motor running at 180
degree angle difference with the others so that the robot will be able to move forward
properly.

(a) (b)

Figure 3: (a) MR2 robot leg, (b) MR2 robot mechanism

2.2 Electronic Design

We have utilized different sensors for the MR2, which are the Infrared Sensor (IR
sensor) and an accelerometer, which enable the robot to adjust itself to a suitable position.

We also custom made our own mircocontroller boards with ATMEGA 328P, specifically
for both the MR1 and the MR2 robot to save cost, reduce wiring problems, and to use I2C

protocol [4]. These boards allow us to add PCB plug-in connector so we can connect to

lithium polymer battery.

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