Page 232 - Robot Design Handbook ROBOCON Malaysia 2019

Figure 6: The case to hold the Figure 7: The case to hold the Gerege
Gerege from the right side

Further, the MR2 also has arm which receives the Gerege from the MR1 and holds

it. A case was build using clear acrylic perspex sheet and cut into 28 cm x 13 cm x 6.5 cm
(given in Figures 6 and 7). The use of the case is to hold the Gerege so that it will not fall.

On the other hand, the arms are also fixed to springs at 75 degree as shown in Figures 8 and
9. When the MR2 received the Gerege, the arm will be at a 90 degree position. After the

MR2 receives the Gerege, a toggle switch is switched on by the Gerege and this activates
the MR2.

Figure 8: The arm that is Figure 9: The right side of the
connected with a spring arm

The dimension of the MR2 body is 71 cm x 52 cm x 74 cm and the total mass is 8.5

kg. The MR2 can hold a total weight up to 1.5 kg. Each leg has a two degree of freedom
(DOF) while the arm holding the Gerege has only one degree of freedom (DOF).

2.2 Electronics Design

The MR1 consists of a joystick and a DC motor with encoder connected to an
Arduino mega. An encoder that is used in the development of the robots is an

electromechanical device that provides an electrical signal to control the speed and position.

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