Page 229 - Robot Design Handbook ROBOCON Malaysia 2019

Each year, the competition has a different problem statement to be tackled by the

participants with two or more robots involved in completing the tasks. One of the robots
may be manually controlled while the other is automatically controlled. To build the robots,

contestants are restricted to the undergraduate students of a higher learning institution who
possess good knowledge in programming, mechanical design and electronic circuit design.

For this year, the theme of the competition is the Great Urtuu - Sharing the Knowledge.

Two robots need to be developed for this year competition.

2.0 DETAILED DESIGN

2.1 Mechanical Design

The MR1 uses four mecanum wheels. These wheels are unique as the small rollers

are at a 45 degree angle. This allows for the wheels to be mounted like normal wheels as
shown in Figure 1, but provides the same style of movement as the omni wheels. The main

advantage of these wheels is that the dimension of the rollers is larger. The larger the
diameter of a wheel the larger the obstacles it can roll over. The wheels can also move

sideways at a smaller degree shift. The power supply is directly connected to the DC motor
with encoder.

Figure 24: Base of the MR1 with Mecanum wheels and DC geared motor (12 V 248 RPM)

In developing the throwing mechanism, pneumatics system is used. Pneumatic

system is similar to hydraulic system but utilises compressed air instead of fluid for the

hydraulic system. Compressed air is used to transmit and control energy. Air compressor

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