Page 54 - Robot Design Handbook ROBOCON Malaysia 2019
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Figure 3: Picking and throwing mechanism module
For the moving platform, three DC motors are attached to the platform for the MR1
to traverse from Khangai Urtuu, Forest, River and Bridge until it meets up with the MR2
which is located at Gobi Urtuu. One DOF gripper, which is actuated using a servo motor, is
assembled at the heading orientation of the MR1.
2.1.2 Electronic Design
Figure 4 shows the system block diagram of the electronic controller hardware for
the MR1. The controller board draws its power from two packs of 11.1 V Lithium Polymer
battery that is connected in series and can supply up to 55 A peak current for a short duration.
The power required by all electronics hardware, motors, and actuators will be supplied by
this board.
The controller uses Arduino Micro development board as its main micro-controller.
It controls three Vexta DC motors, a servo motor, and three relay drivers (for controlling
the pneumatic actuators). The three Vexta DC motors allow the moving platform to move
in two linear directions (X- and Y-axis) and to perform yaw (rotation is Z-axis) movement.
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