Page 43 - Robot Design Handbook ROBOCON Malaysia 2019

gained by the team. Therefore, the throwing mechanism for this time was made using the

pneumatic mechanism instead of DC motor which causes the lack of power to throw the
ball. Due to the lack of knowledge in pneumatic mechanism, self-study such as learning

from Youtube video was carried-out. However, the use of of using pneumatic method
resulted in many problems such as unable to locate the point of gas leaking, unable to throw

the Shagai when using the maximum pressure set by the organizer and requiring continuous

modification on the design of the pneumatic mechanism in order to perform the required
tasks. Therefore, some calculations were done to determine the most suitable angle and

height for throwing the Shagai and the design of the throwing mechanism was also modified
in order to solve the problems.

Besides, the holding of the Gerege using the gripper and building the arm using
MG946 servo motor also faced problem due to the inability of the servo-shield for gripper

to be connected to the servo-shield for MG946 servo motor. Furthermore, this is the first
time we experience using the mechanum wheels in the robot. Due to insufficient battery

power for four wheels, two mechanum wheels must use a separate battery to supply voltage.

This causes the robot to unable to move forward continuously. Also, due to the lack of
knowledge in mechanum wheel, the bearing that was used for supporting the load of the

robot, was required to be attached to the wheel. However, it was not done by the team since
the bearing needs to be designed by the team themselves.

For the auto robot, the MR2, due to the lack of knowledge in mechanical field, it
was a big challenge for the team to build the robot with four legs and only move completely

using four legs. Furthermore, according to the rules, the Gerege must be raised up vertically
and have a distance of 1 m from the ground when the robot is at the Mountain. This is also

another problem because the robot, with a long arm on one side, will not be stable when the

arm is raised. Nevertheless, the legs of the robot were not stable enough to support the
weight of the whole robot body, resulting in the inability of the servo motor to support the

robot. Therefore, a new design of the legs of the MR2 was done to solve this problem.

There are several objectives of building the two robots:

1. The manual robot, the MR1, and auto robot, the MR2, can move perfectly.
2. Manual robot, the MR1, can do all the tasks including moving, passing the Gerege

to the auto robot, the MR2, and throwing the Shagai.

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