Page 296 - Robot Design Handbook ROBOCON Malaysia 2019

IUKL from Infrastructure University Kuala Lumpur

TEAM SUPERVISOR: Budiman Azzali Basir

TEAM MEMBERS: Abdalla Imaldeldin Abdelrahim
Yeye Coulibaly Mahamadou
Lee Zheng Joo
Ayman Taher Alqurashi
S. Kanageswaran

ABSTRACT

This report addresses the work that has been undertaken in the design and development of

nine degrees of freedom (DOF) Dual Arms Omni-Directional Mobile Robot Manipulators

and autonomous quadruped robot as a part of the requirement in ROBOCON Malaysia 2019.
The team integrated a dual-arms robot with an omni-directional mobile robot to design a

nine DOF dual-arms omni-directional mobile robot. This allowed a flexible manoeuvring

for the mobile robot while the nine DOF dual-arm robot manipulators provide flexibility for
task handling. This semi-auto robot is capable to manoeuver around the set-up pole, delivers

the Gerege to the autonomous robot and also capable of lifting and throwing the Shagai into
the designated area. The autonomous quadruped robot is designed to mimic a movement of

a digitigrades such as a tiger, in a manner of moving the two legs on one side of the body
before moving the legs on the other side.

1.0 INTRODUCTION
This report documented the work that has been carried out by the team as a part of

the requirement in ROBOCON Malaysia 2019. This writing is organized as follows: Section
2 presents an overview of nine DOF Dual Arms Omni-Directional Mobile Robot

Manipulators design methodology and concept. Section 3 presents an overview of the

Autonomous Quadruped Robot design methodology and concept, and finally Section 4
presents conclusion and recommendation.

2.0 DESIGN OF A NINE DOF DUAL-ARMS OMNI-DIRECTIONAL
MOBILE ROBOT MANIPULATORS

Rapid developments in intelligent manufacturing have motivated the development

of mobile robot technology in recent years [1]. Intelligent factories have been increasingly

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