Page 36 - Robot Design Handbook ROBOCON Malaysia 2019

Figure 7: The MR2 Engineering Drawing

The MR2 utilizes a simplistic design, based entirely on servo motors. The robot
consists of a main body and four separate legs that work independently of one another. Three

legs consist of two 3D printed segments, namely the upper leg and lower leg. A high torque

servo motor joins the two segments which are then attached to the rest of the body by a
another servo motor. These two servos are used to position the upper and lower legs and

provide the forces required for the robot to walk. The third and final servo on each leg is a
biaxial servo, which is used for stability. The servo can move the legs outwards and catch

the robot if the on-board computational system detects that the robot is unstable or about to
fall.

The final servo on the MR1 is used to actuate the Gerege bed, which is located in

the rear half of the robot. The Gerege will be placed in the Gerege bed after being passed to
the MR2 by the MR1. This bed is attached to a single high torque servo motor which will

raise the Gerege when required during the robot’s operation.

The materials used for the MR2 are a 1-inch by 1-inch Square Aluminum piping for
the main body of the robot and Poly Lactic Acid (PLA) for the lower and upper legs of the

robot.

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