Page 254 - Robot Design Handbook ROBOCON Malaysia 2019

Figure 4: Angle raiser mechanism

During the development stage, the team faced challenges in determining the uniform
load on each motors. The simulations in CAD-CAE software shows that the movements

were smooth. However, during the testing after the assembly, the team faced a problem to
identify the load on each of the motor due to limited equipment on our site. Therefore, the

team had to perform a trial-and-error test in determining the load on the motor in order to

make sure the leg’s motion was appropriate. Trouble-shooting using appropriate
programming also took placed to solve the speed of motions and synchronizations problems.

Details of the MR2 mechanical design is shown in Figure 5.

2.2 Electronic Design

For electronics design, team had decided to use Arduino Mega 2560 system on both robots.
The details of specifications are in the following subsections.

2.2.1 Messenger Robot 1

 SmartDrive Duo-60 2 units as driver.

 Relay module 3 units as solenoid valve controller.
 USB Host Shield 1 unit as Bluetooth communicator.

 RC Servo Motor 2 unit as gripper and arm.

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