Page 241 - Robot Design Handbook ROBOCON Malaysia 2019

The motion parameters of the MR2 robot legs were collected and sent to the robot

vision system. This is to solve the stabilization problems of the software-based algorithms
in searching for the global motion parameters. The motion jitter parameters of the four legs

are extracted and combined with the software stabilization methods. This works as the basis
for solving global motion parameters and provides guided solutions for the parameters. The

simulation tools of MATLAB SimMechanics toolkits are utilized to analyse the MR2

stability. The results indicated that the proposed algorithm for four-legged robot movement
in real-time is better and more accurate.

2.2 Movement Mechanism

An actuator is a type of motor that is responsible for moving or controlling a

mechanism or system. It is operated by a source of energy, typically electric current,

hydraulic fluid pressure, or pneumatic pressure, and converts that energy into motion.

Figure 2: Actuator

We are using JX Servo PDI-HV2060MG 180 degree 60 kg metal gear high voltage core
digital high torque servo motor for the UAV robot.

(a) (b)

Figure 3: (a) Front look of the MR1 and (b) Upper look of the MR1

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