Page 317 - Robot Design Handbook ROBOCON Malaysia 2019
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by the nomadic Mongolians to exchange and to share knowledge. The theme of ROBOCON
Malaysia 2019 is Sharing of Knowledge and with the slogan Satu Langkah, Seribu Lonjakan
which was derived from horse stride in the Urtuu system for exchanging messages.
UKM ROBOCON team prepares two types of robots to fulfil the criteria and rules
given by the organizer. The MR1 has wheels and launching system. The MR1 must
complete the task of throwing Shagai, complete the track in the fastest time and pass the
Gerege to the MR2. This the MR2 must be designed with a stable walking system in order
to overcome complex obstacles on the track.
The conceptual design of the MR1 is based on a mobile robot which has a DC motor
attached to the wheel for driving on the floor as shown in Figure 1. The robot consists of
mechanical and electrical sub-systems. The mechanical subsystem consists of the robot’s
case, chassis and four omni-directional wheels. Furthermore, the MR1 has an ejector that is
able to throw the Shagai into the target area. As stated by Huang et al. [2,] robot with more
than three wheels is more powerful. The electrical sub-system consists of a DC motor drive,
motor control, and software and communication circuit. Albahal et al. [3] mentioned that
robot kinematics is fundamental to control the straight movement of the robot in the XY-
plane.
On the other hand, the design of the MR2 (shown in Figure 2) was inspired by the
movement of four legged animals. The MR2 is the most complicated robot that requires
coding complexity, mechanical system and weight distribution. Michael et al. [4] state that
to maintain the stability, all electronics parts are placed at the centre of the body. For this
project, the MR2 design consists of 16 degrees of freedom (DOF). This value of DOF is
acceptable since Claudio et al. [5] state that three actuated-revolute DOF is the minimum
that is required to allow a foot positioning in a three-dimensional work-space around the
hip.
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