Page 220 - Robot Design Handbook ROBOCON Malaysia 2019

(d) To programme the robots such that they are able to complete all ROBOCON

Malaysia 2019 tasks.

2.0 DETAILED DESIGN

2.1 Mechanical Design

2.1.1 The MR1 Movement Mechanism

The MR1 moves using four attached mecanum wheels. Mecanum wheel is a wheel

which can move in any directions. It is a conventional wheel with a series of rollers attached

to its circumference. The MR1 uses a set of 152 mm mecanum wheel left/bearing rollers
14101L. The four mecanum wheels are each directly connected to a motor for independent

control. The robot can move forward, reverse and spin just like any regular wheels. The
configuration of rollers at 45 degrees also allows the robot to translate sideways and move

through a combination of these i.e. in any direction. We have split the force into two vectors;
1) one forward/backward and 2) one right/left. When the wheels on one side are spinning in

the opposite directions, the forward and backward vectors cancel out while both sideways

vectors add up.

2.1.2 The MR1 Throwing Mechanism

The MR1 uses pneumatics system which utilises pressurised air to launch the Shagai

into the Landing Zone. The MR1 uses a kicking concept. This concept needs certain strength
and calculated angle for the best angle. The best angle and sufficient strength can make the

best throw to get the points.

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