Page 49 - Robot Design Handbook ROBOCON Malaysia 2019

3.0 ROBOT TESTING

The MR1 can move forward, backward and turn around successfully but it cannot
move to the left and right perfectly. Initially, the throwing mechanism of the MR1 was not

stable because of the height of the MR1 is insufficient for the Shagai to land on the Landing

Zone. After using the piston to lift the MR1, another testing was run by the team, and the
result shows that the Shagai can land directly into the Landing Zone without bouncing on

the MR2 route. Furthermore, the gripper of the MR1 is not attached to the MR1 yet.
However, the code for the arm and gripper was already done by the team but the testing of

the gripper was not done yet. Therefore, there needs to some adjustment on the MR1 based

on the arm, gripper and pneumatic mechanism.

For the MR2, standing tests were done. However, the MR2 can only stand for two
to three minutes due to the robot’s unbalance and the design of the legs was unable to support

the body. Originally, the MR2 robot uses the MG996 servo motor for all the joints of the

legs. There was in total of eight servo motors used in this robot. However, since the MG996
servo motor was taken from another used robot, the result of testing showed that it was

shaking and became loose when it was programmed to be in a certain angle, which means

that the servo motor was not in the correct angle and it is not accurate. Thus, the robot was
unstable. Therefore, all MG996 servo motors were changed with a new MG946 servo motor.

However, the same result was shown after the testing. This time, some calculations were
done and it showed that using four servo motors were still not enough to support the robot

with heavy load. Therefore, two servo motors were used in the upper legs of the robot, which
will give double torques for the upper legs to support the robot’s weight. Nevertheless, the

arm of the MR2 for holding the Gerege was not attached to the MR2 yet. Therefore, the

overall programming of the auto robot was incomplete.

4.0 CONCLUSION, LIMITATION AND RECOMMENDATIONS
In conclusion, before the competition date, the manual robot the MR1 was not yet

finished particularly the arm, gripper and the pneumatic mechanism part. Similarly, the

MR2 was still at the testing stage which required more improvements.

This project has some limitations. For the MR1, the team lack of knowledge on

mechanism. This resulted in a lot of time spent on investigating the mechanism of the robot.

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