Page 47 - Robot Design Handbook ROBOCON Malaysia 2019

Figure 5: Finished product of the MR2

The design of the MR2, is shown in Figure 4, and the finished product of the MR2
is shown in Figure 5. The MR2 needs four legs to move from the beginning until the end.

Therefore, the mechanism for the legs is compulsory. Besides, there was an arm attached to

the MR2 in order to hold the Gerege. Three MG946 servo motors were used for the leg in
the MR2 as the joint of the leg and all four legs were identical. The servo motor used in the

arm was MG946 servo motor and three of them were used as the joint of the arm. The
calculation for finding the torque is stated as below:

= sin (1)

where = amount of torque; r = the length of lever arm, distance between the pivot point

and the point of force application; F = force action on the object; and = angle between the
force vector and lever arm.

2.2 Electronic Design

The mechanum wheels of the MR1 was controlled by using the wireless WI-FI

module with a joystick. In the MR2, a proximity sensor is used for receiving the Gerege
from the MR1 and also is used for receiving the signal from the player when it is time to

climb up the Mountain.

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