Page 239 - Robot Design Handbook ROBOCON Malaysia 2019

UniSZA RoboPRO from Universiti Sultan Zainal Abidin

TEAM SUPERVISOR: Engku Fadzli Hasan Bin Syed Abdullah
Azrul Amri Bin Jamal

TEAM ADVISORS: Weng Kit
Amir Fadzli Bin Abd Ghani
Mohd Hosni Bin Rifin
Zarkashim Bin Mad Zali

1.0 INTRODUCTION

Generally, the Messenger Robot 1 (MR1) is an omni-wheel robot and the Messenger

Robot (MR2) is a robot that has legs on it. We have designed the MR1 with three Omni-

wheel and the MR2 with quadruplet legs. The MR1 can grip the Shagai from the floor using
pneumatic systems connected to a motor. The clamper of the Gerege in the MR1 also uses

pneumatic system. MR 1 movement is controlled by a PS2 controller, while the MR2 is an
autonomous robot. The MR2 can move on four legs. The MR2 is also designed in such a

way that it can overcome the obstacle course in the game field, for example, the Tussock,

the Hill and the Sand Dune. The MR2 uses eight servos to move the robot. Each servo acts
as the motor for the joint of the robot. The problem that the team faced is to overcome the

instability of the robot. The other problem is to obtained the right coding sequence for the
MR2 to be an autonomous robot. The MR2 is designed based on the rhinoceroses. This

report is presented to inform the reader on the design and implementation of the UniSZA’s
robots for ROBOCON 2019.

2.0 DETAILED DESIGN

2.1 Mechanical Design

The MR1 moves using special types of wheels. The wheels are called omni-wheels.

The special feature of this type of wheel is that it can turn left and right without turning the
robot itself. The robot has three wheels with three motors. Each motor uses a 12 V battery.

The movement of the MR1 is being controlled by a PS2 controller. The MR1 uses three

batteries to operate. The first and second batteries are 12 V each, and the third battery is 7.4
V. The first 12 V battery is for the Nucleo board (F412ZG). The second 12 V battery is for

the MR1 movement and the third 7.4 V is used to power up the PS2 controller.

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