Page 233 - Robot Design Handbook ROBOCON Malaysia 2019
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It turns mechanical motion into an electrical signal to monitor specific parameters and to
make adjustments if necessary to maintain the operation of the device as desired. For the
throwing mechanism, relay is used. A relay is an electrically operated switch that can be
turned on or off, letting intended current flow, and can be controlled using low voltages.
Motor driver is used to lift the base that holds the Shagai. The mechanism is controlled by
an external joystick.
Figure 10: Set of pneumatic system Figure 11: Set of pulley system
The MR2 consists of four infrared sensors which is built-in with a motor. An infrared
sensor is an electronic device that emits infrared radiation in order to sense the surrounding
conditions. An infrared sensor can measure the heat of an object as well as detect motion.
Usually in the infrared spectrum, all objects radiate some forms of thermal radiation. These
types of radiations are invisible to our eyes but can be detected by an infrared sensor. The
emitter is an IR LED (Light Emitting Diode) while the detector is an IR photodiode which
is sensitive to IR light of the same wavelength as that emitted by the IR LED. When IR light
is captured by the photodiode, the resistance and the output voltage change in proportion to
the magnitude of the IR light received. The main function of this sensor is to detect the angle
of each leg in order to make the MR2 robot moves forward or backward. Once a leg rotates
over the set up angle value, this sensor will detect it and send an analog signal to the Arduino,
commending the motor to stop rotating. In order to set the automatic the MR2 robot, a toggle
switch is used. This is placed in the case where the MR2 receives the Gerege. Toggle switch
will send a digital signal which is 1 or 0 to the Arduino.
2.3 Software Design
Different process flows are made for the two robots to complete their tasks.
Examples of process flow are given in Figures 12 and 13. SolidWork has been used to design
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