Page 78 - Robot Design Handbook ROBOCON Malaysia 2019

or Bluetooth interfaces [3]. The mobile robot has to have the engines connected to a control

circuit with one of these interfaces. While controlling the mobile robot with Bluetooth we
also have to bear in mind that our application is not only controlled the robot but also will

does other tasks, like gathering information about the environment and computing the
mobile robot’s moving direction. Therefore, the Bluetooth connection should not block

these tasks. The aim of this project is to design and comstruct two mobile robots that can do

specific tasks.

While there exist successful approaches to mobile robot controlled by Bluetooth

serial terminal and dynamic legged locomotion, this project deals with two types robots
which are built to carry the messenger. The messenger not only need the data but also things

that need to grabbed, gripedp, held and threw. These movements have to be finished three
minutes. This work involves two robots wich are the MR1 and the MR2. The MR1 can be

built as a manual, semi-automatic or fully automatic control robot. In this project, fully
automatic robot is effective because it can use Bluetooth serial terminal. The operation of

the MR1 is such that it has to pass the Gerege to the MR2 and throws the Shagai to earn

point.

Meanwhile the MR2 is fixed to a fully automatic robot controller. It has to move on

four legs and must bring the Gerege to Uukhai Zone and after that raise it [4].

2.0 DETAILED DESIGN

Planning algorithms methods has been developed for moving path planning in

configuration space where the main focus is on manoeuvres which requires dexterity,
obstacle avoidance and static stability [5]. This section of the report is divided into two parts.

Part A describes the planning and development of the MR1 and part B deals the development
of the MR2.

2.1 Mechanical Design

2.1.1 Messenger Robot 1 (MR1)

The MR1 body is designed to be rectangular with body frame made of aluminium hollow
bar, bolt and some of nuts to join together. This is the strongest part to hold the entire the

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