Page 60 - Robot Design Handbook ROBOCON Malaysia 2019

2.0 DETAILED DESIGN

2.1 Mechanical Component of the MR1

Omni wheeled base is used to enable the robot able to move in any direction. The

base is shaped with an angle of 45º at every corner of the omni wheel. The omni wheel can
move the robot in any direction such as 90º and 45º. This condition is suitable for the MR1

robot to move from Khangai Urtuu to Gobi Urtuu. The gripper is designed to hold and pass

the Gerege to the MR2 at Gobi Urtuu using a servo motor. The servo motor will receive a
control signal by the controller to move the griper at any angle between 90º to 180º. The

lifter is used to carry and throw the Shagai at the Throwing Zone. The lifter uses two
components which are pneumatic valve (electronic component) and pneumatic cylinder

(hydraulic component). The mechanism uses bottles that is filled with air pressure of 0.6

Mpa. The pressure from the bottles causes the pneumatic cylinder to move the pneumatic
valve which acts as the controller for the pneumatic cylinder.

(a) (b) (c)

(d) (e)

Figure 1: The design components of the MR1. (a) Omni wheel, (b) Gripper, (c) Lifter, (d)
Pneumatic cylinder and (e) Pneumatic valve.

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