Page 277 - Robot Design Handbook ROBOCON Malaysia 2019

c) Identify design of both robots that can be improved to automatic.

- Identify and improve the parts of robots to make them to perform more smoothly

2.0 DETAILED DESIGN

2.1 Messenger Robot 1

2.1.1 Mechanical Design

The Messesnger-Robot 1 (MR1) consists of two main parts; 1) Base and 2) Gripping
and Shooting mechanism.

2.1.1.1 Base

The base consists of three main components:
 Body of the base

 Motors used for the drives

 Wheels used for the drives
The body of the base is made of a rigid and transparent perspex. This perspex enables

us to see clearly the structure beneath it. The perspex is durable while at the same time
providing a great support to the other components above it. The frame of the base is made

of aluminium because of its light weight and its ability to bear high stress. We have used a
square base frame. The whole frame is joined by welding work as it reduces the weight of

the frame and also do not produce any stress concentration on the frame which generally
occurs on the frame that is joined using bolts and nuts.

The motor used for the drive is very compact and has very high torque. Due to its

high torque, it can easily bear a load of 50 kg which is the maximum weight limit set in the

ROBOCON 2019. It also allows smooth drive of the bot along all turns and corners. The
basic information of the motor used are:

 Weight: 609g

 RPM: 248
 Name of Company: Cytron (Sha Yang Ye)
 Torque: 10 kgfcm

We have used three omni-wheels on the base of the robot. An omni-wheel, as shown

in Figure 1, has the holonomic drive property which means it can move freely. As a result,

a holonomic drive can shift from side-to-side or move diagonally without changing the

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