Page 261 - Robot Design Handbook ROBOCON Malaysia 2019

robots are required to be built. One of them is a manual or semi-automatic robot while the

other is fully automated.

To simplify the situation, the MR1 has several tasks. It has to travel a distance to
pass the Gerege to the auto robot. Once it passed the Gerege to the auto robot, the MR1 can

pick up the Shagai while waiting for the MR2 to reach its destination, that is Mountain

Urtuu. After that, the MR1 can enter into the Throwing Zone to shoot the Shagai to the
Landing Zone. Once the MR2 receive the Gerege from the MR1, it has to travel in straight

line and also turns its direction following the path to reach Mountain Urtuu. Once it reaches

Mountain Urtuu, team members can physically turn its direction to reach the Uukhai Zone.
The final task for the MR2 is to lift up the Gerege after receiving it from the MR1.

2.0 DETAILED DESIGN

2.1 Mechanical Design

2.1.1 Mechanical Design for the MR1

The design of the MR1 can be separated into several stages. First, we have to
consider what types of movement we need to use, either omni-wheel, mecanum wheel or

two back wheels for forward motion. We have decided to use mecanum wheel because in

the Forest Zone the path is straight and also has left-right directions. It is easier for the
programmer to tune if the robot has slightly deviated from the desirable path. The Mecanum

wheel dimension is 100 mm and mounted with coupler to a DC motor. The base dimension
of the MR1 is 700 mm x 700 mm and built using aluminium. To grip the Shagai, we decided

to use the pneumatic cylinder mounted to a slider. Both ends of the slider are attached with

aluminium covered by a cushion in order to minimize the impact while gripping the Shagai.
This gripper is then mounted to a rod where the end of the rod is mounted to a power window

motor. The power window motor will then turn the gripper to the platform to place the
Shagai. The platform is inclined so that the shooting is in a projectile motion. The shooting

mechanism is controlled by another power window motor which is used to tighten or release
the ropes that are attached to the rubber. When the power window motor tightens the rubber,

two linear actuators will release its strokes to hold the rubber. The ropes will then be released

for the next shooting. The strokes will then be lowered down to release the rubber in order

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