Page 309 - Robot Design Handbook ROBOCON Malaysia 2019

turn [2]. In other words, the robot can move in multiple directions. The robot base is

powered by a four 24 V planetary DC geared motor as the main locomotion. Table 1
shows the specification for the motor.

Table 1: Robot base motor specification

Item Specification
Voltage 24 VDC

Rated load torque 785 mN.m (8kgf.cm)

Rated current < 3.5A
Rated load speed 350 RPM

Weight 850 g

Shaft 10.0 mm diameter x 27.0 mm length
Motor type Brushed motor

The robot has a front tray to hold the Shagai. The tray can be moved forward and

reverse by controlling another DC geared motor. The gripper for the Shagai is made
using an electro pneumatic silinder that will push and pull the gripper to hold and to

release the Shagai. The robot is controlled using a wireless Bluetooth system. The

remote control for the system is custom made using an android application that sends
the data using a Bluetooth. Figure 2 shows the smartphone interface for the remote

control of the MR1 robot.

Figure 2: Smartphone interface for the MR1 remote controller

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