Page 79 - Robot Design Handbook ROBOCON Malaysia 2019

MR1 body. The length of the body is 90 cm, with the width (including wheels) is 72 cm and

the height (including rotation of gripper) is 60 cm.

The function of the gripper function is to hold the Gerege and throw the Shagai. The
gripper is made from aluminium with the length of 15 cm. A scoop was developed to carry

and throw the Shaga. The length of the scoop is 57 cm and can stand at 90 degrees.

For the moving mechanism, mecanum wheels are used. The sizes of the wheels are

152 mm and the coupler for the motor which is to drive the wheels is 10 mm. Mecanum

drive is a type of holonomic drive base; meaning that it applies the force of the wheel at an
angle of 45 degrees to the robot instead of on one of its axes. By applying the force at an

angle to the robot, it can vary the magnitude of the force vectors to gain translational control
of the robot. The robot can move in any direction while keeping the robot in a constant

compass direction. A mecanum-based robot can be constructed with four independently

driven wheels. For the construction of a robot with four mecanum wheels, two left-handed
wheels (rollers at +45 degrees to the wheel axis) and two right-handed wheels (rollers at –

45 degrees to the wheel axis) are required.

The total weight of the MR1 is 15 kg. This is a suitable weight to carry heavy loads

or for moving at higher speed.

2.1.2 Messenger Robot 2 (MR2)

The MR2 is built using aluminium hollow bar of rectangular form and uses bolt and

nuts to join the body and legs together. The body part consists of four power window motor
to drive the movement of the legs in circular motion in order to make the robot move

forward. The length of the MR2 body is 62 cm, with the width 62 cm and height of 23cm.
The length of its legs is 86 cm. In total, the dimension of the MR2 with the four legs does

not exceed the rules of the games which is 80 cm wide, 100 cm long and 80 cm high.

A slide and holder have been designed to be placed on the top of the MR2 body. The

slide was designed to receive the Gerege from the MR1 and to hold the Gerege as accorded
by the rules. The slide and the holder is made from aluminium with a length of 25 cm, aided

with a motor to lift up the Gerege when it reaches the Mountain. The slide consists of LDR

module to trigger the relay module to turn on the MR2.

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