Page 53 - Robot Design Handbook ROBOCON Malaysia 2019

There are generally four main components in the MR1 as shown in Figure 2. The

first major component is the power supply unit which provides 5 V, 12 V, and 24 V to all
other components in the system. The second component is the system controller which

consists of the DC motor driver, pneumatic valve and the remote-control interface. The third
component is the mechanical structure for the moving platform and the pick-and-throw

mechanism. The final compenent is the remote-control unit, which is to be handled by the

manual operator during the game.

2.1.1 Mechanical Design

The overall mechanical structure of the MR1 is shown in Figure 1. It consists of two

main modules which are picking and throwing mechanisms as well as a moving platform.
The dimension of the MR1 is 0.97 m (L) x 0.67 m (W) x 0.80 m (H) with a mass of 17 kg.

It has a payload capacity of 5 kg. In terms of degree of freedom (DOF), the moving platform

has two translational DOFs (x-axis and y-axis) and one rotational DOF (yaw-axis) whereas
picking and throwing mechanism has two translational DOFs (x-axis and y-axis) and one

rotational DOF (pitch-axis).

The implementation of the Shagai picking and throwing mechanism is based on

pneumatic actuation (see Figure 3). The module consists of three pneumatic cylinders which
are “Push”, “Gripper” and “Ject”. Gas tank is filled with six bars PSI compressed air. Push

cylinder is driven by a solenoid valve via quick exhaust in order to achieve throwing
mechanism. Ject cylinder is driven by a solenoid valve via air regulator. The gripper cylinder

is solely driven by a solenoid valve.

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