Page 253 - Robot Design Handbook ROBOCON Malaysia 2019
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dependable on the operator control skill which could become a liability to the team. Figure
3 shows the Shagai pick-up and the loader.
Figure 3: Shagai pick-up and loader (shovel)
The third criteria were the Shagai thrower. The main thrower mechanism used
pneumatic piston of diameter dimension of 25 mm X 100 mm with six bars of pressure. In
order to shoot the Shagai in the area of about 2.2 m long, the robot needed an adjustment to
be raised to an angle of 45 degrees with an extension of 300 mm for the loader to achieve
approximately 2.2 m trajectory range. This was achieved by using two pneumatic pistons
(diameter dimension of 16 mm X 100 mm) that were fixed at the base. Two units of
extension rods also powered by pneumatic piston (size diameter 25 mm X 350 mm), were
used. For these pneumatic pistons, the design used two units of single solenoid valve 5-2
ways. For the shooter, the pneumatic controller used a Double solenoid valve 5-3 ways as
shown in Figure 4.
The final criteria for MR1 is the Gerege holder. For this, the team had decided to
use two servo motor design as the gripper and the passing arm.
2.1.2 Messenger Robot 2 Mechanical Design
Similar to the MR1, the MR2 had a rectangular base with four legs. After a study
was conducted, the overall legged robot was designed to have two simultaneous motions in
each movement for stability. The frame was designed to use the lightest material to make
sure 12 V power window (standard) could withstand the total load of the robot which was
approximately 10 kg.
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