Robot Design Handbook ROBOCON Malaysia 2019

Figure 5: Required actuation for general movement.



2.2 Dual-Arms Robot Manipulators


The main advantage and benefit of a dual-arm robots over a single-arm system is
multi-tasking. However, several open problems concerning understanding, controlling,

planning and programming of a dual-arm bimanual operations prevent its wider use and

require considerable further research efforts in order to achieve an efficient application of
dual-arm robots in industrial practice. Controlling and programming of a dual-arm robot

manipulator assembly tasks, however, requires more complex approaches due to the
assembly tasks involving various composite motions and transitions phases. Thus, for this

project, the dual-arms robot manipulator is only required to synchronize the movement and
for picking up and throwing the Shagai effectively.


The impedance control provides a fundamental approach for the control of bimanual
operations. The control objective of the impedance control is to realize a reference target

model specifying the interaction between the robot and environment. Commonly, the linear

second-order differential equation form (1) is adopted, describing the simple and well-
understood mass-spring-damper mechanical system




297

= ( ̈ − ̈ ) + ( ̇ − ̇ ) + ( − ) (1)

0

0

0
where x0 is nominal robot position, x is the actual one, Mt, Bt and Kt are target mass, damping
and stiffness, respectively, F is the external force exerted upon the robot. The robust
interaction-control approach [7] considers a simplified interaction model of an impedance
controlled robot.






































Figure 6: Design structure of the dual-arm robot manipulator.



The Cartesian reference frame definitions for dual-arms for both arms are shown in

Figures 7 and 8, respectively.
























298

Figure 7: Cartesian reference frame for right arm.



























Figure 8: Cartesian reference frame for left arm.




3.0 DESIGN OF AUTONOMOUS QUADRUPED ROBOT

Quadruped robot designs are more stable in uneven surface and rough terrain

because they can move stably by putting their centre of gravity in supporting leg polygon.
This is due to the quadruped animals like tiger and wolf, are excellent at high speed running

and high jumping and can also move stably in rough terrain. The robots may realize high
motion performance by mimicking these animals [8]. The design of a quadruped robot that

was inspired by the musculoskeletal of animals, is an effective approach to realize high








299

motion performance. Recently, many quadruped robots mimicking animals have been

developed.

3.1 Structural Design

When a digitigrades walking style animal walks, equivalent bending and extension

motion are conducted at the shoulder and elbow joints. To realize the coordination of
motions between shoulder and elbow joints, we adopt a two joint as mechanism of the front

leg. The rear leg consists of three joint as shown in Figure 9. The trot movement are shown

in Figures 10 and 11, respectively.

















Figure 9: Structural design of quadruped robot.




















Figure 10: Trot movement 1.





















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Figure 11: Trot movement 2.


3.2 Schematic Diagram






















































Figure 12: Schematic diagram of the quadruped robot.





301

4.0 CONCLUSION

A dual-arm omni-directional mobile robot and quadruped robot have been

developed and tested for the purposed of ROBOCON 2019. Specific designs have
been made to complete task given in the competition. The preliminary test conducted

for both robots are satisfactory. Future work can be carried out using both robots for
research purposes.





References
[1] Erico, G., 2008, Three Engineers, Hundreds of Robots, One Warehouse. IEEE Spectr: 26–34.
[2] Bøgh, S.; Schou, C.; Rühr, T., 2014, Integration and Assessment of Multiple Mobile
Manipulators in a Real-World Industrial Production Facility. In Proceedings of the 45th
International Symposium on Robotics, Munich, Germany, 2–3 June, pp: 1–8.
[3] Bourne, D., Choset, H., Hu, H., Kantor, G., Niessl, C., Rubinstein, Z., Simmons, R., Smith, S.,
2003, Mobile Manufacturing of Large Structures. In Proceedings of the 2015 IEEE International
Conference on RoboticsA. Vector and H.P. Severus-Snape. Rememberall revisited. Journal of
Rem, 13 (1):234–778.
[4] Shneier, M.; Bostelman, R., 2015, Literature Review of Mobile Robots for Manufacturing;
NISTIR 8022; National Institute of Standards and Technology: Gaithersburg, MD, USA.
[5] Kraetzschmar, G.K., Hochgeschwender, N., Nowak, W., 2014, RoboCup@Work: Competing
for the Factory of the Future. Lect. Notes Comput. Sci. 8992: 171–18: 2.
[6] Olaf Fiegel, Aparma Badve, Glen Bright, et al., 2002, Improved Mecanum Wheel Design for
Omni-directional Robots, in Proc. Australasian Conference on Robotis and Automation, 27-29
Nov.
[7] Vukobratovic M, Surdilovic D, Ekalo Y, Katic D, 2009, Dynamics and Robust Control of
Robot-Environment Interaction. New Jersey: World Scientific.
[8] Ryosuke Kawasaki, Ryuki Sato, Eiki Kazama, Aiguo Ming, Makoto Shimojo, 2016,
Development of a flexible coupled spine mechanism for a small quadruped robot, Robotics
and Biomimetics (ROBIO) 2016 IEEE International Conference on, pp. 71-76.


























302

PUO SixT9 from Politeknik Ungku Omar

TEAM SUPERVISOR: Azhar Bin Jaffar

TEAM ADVISORS: Zulkurnain Bin Abd. Hamid
Noorolpadzilah Binti Mohamed Zan



ABSTRACT

This report describes the technical innovation that has been done in building two robots that

have participated in the National level of ROBOCON Malaysia 2019. Different tasks must
be done using different robots. The first robot is called Messenger Robot 1 (MR1). The MR1

robot is a manual-controlled robot that was designed to start from Khangi Urtuu and then

manoeuvres around the Forest, goes through the Khangai area and reaches the Throwing
Zone. Another robot which is a four legged autonomous robot, called Messenger Robot 2

(MR2) is built to overcome the task from the starting point in Gobi Urtuu, walk through
Gobi Area, Sand Dune, Tussock and through Mountain Urtuu. After the MR1 successfully

throws the Shagai on the Landing Zone and gets 50 marks, the MR2 then climbs the

Mountain Area from Mountain Urtuu to reach the Uukhai Zone. At the end, two robots that
can manage the tasks given were successfully built.




1.0 INTRODUCTION

The concept of ROBOCON Malaysia 2019 match is to deliver information by using
a relay messenger system called the Urtuu system. Hence, each participation team must

prepare two types of robot; the MR1 (wheel type) and the MR2 (quadruped leg). The MR1
is a semi-autonomous robot controlled by a remote while the MR2 operates in a fully

autonomous mode.


2.0 DETAILED DESIGN

This section is divided into two main sections to distingush between the MR1 and

the MR2 technical specification. Detail explanation about the MR1 and the MR2 designs
and operations are presented as follow:


2.1 Mechanical Design of the MR1 and the MR2






303

2.1.1 Mechanical Design of the MR1


Figure 1 shows the MR1 manual robot design that has been implemented for
ROBOCON Malaysia 2019.









Front view













Side view














PUO Messenger Robot 1 the

MR1






Figure 1: The MR1 mechanical design

The robot that is used in the competition is a fully manual robot. The design of

the robot uses four omni-wheels [1]. Using this kind of design, the robot will have the
holonomic motion that allows it to move in any angle of position without needing to




304

turn [2]. In other words, the robot can move in multiple directions. The robot base is

powered by a four 24 V planetary DC geared motor as the main locomotion. Table 1
shows the specification for the motor.


Table 1: Robot base motor specification

Item Specification
Voltage 24 VDC

Rated load torque 785 mN.m (8kgf.cm)

Rated current < 3.5A
Rated load speed 350 RPM

Weight 850 g

Shaft 10.0 mm diameter x 27.0 mm length
Motor type Brushed motor



The robot has a front tray to hold the Shagai. The tray can be moved forward and

reverse by controlling another DC geared motor. The gripper for the Shagai is made
using an electro pneumatic silinder that will push and pull the gripper to hold and to

release the Shagai. The robot is controlled using a wireless Bluetooth system. The

remote control for the system is custom made using an android application that sends
the data using a Bluetooth. Figure 2 shows the smartphone interface for the remote

control of the MR1 robot.



















Figure 2: Smartphone interface for the MR1 remote controller








305

2.1.2 Mechanical Design of the MR2


Figure 3 shows the kinematic diagram and the physical appearance and embodiment
of the proposed design of the MR2.

























Figure 3: The MR2 mechanical design


As can be seen in Figure 3, the robot is designed with a combination of two robotic
design types; the robotic arm and quadruped legged robot. The robot has 14 degrees of

freedoms (DOFs) overall where 2 DOFs at the arm and 12 DOFs at each legs. The robotic
arm has an ability to pick up and manipulate objects at a distance while quadruped legged

provides locomotion to the robot. The number that is indicated at each joint symbol

represents the ID of each servo motor.

The Dynamixel AX-12A actuator from Robotis is used as the rotating joints of the robot.
The servo motor is one of the most affordable entry-level smart servo motor for robotics

with advanced feed-back functions such as temperature, speed, voltage, shaft position and

load [3]. All the servo management and position control is handled by the servo’s built in
micro-controller. Another special features of this servo actuator is that it has the capability

to operate in endless rotation mode thus, making it suitable to build a wheel type robot using
dc motor. Table 2 shows some hardware specification of Dinamixels AX-12A servo motor.



2.2 Electronic Design

2.2.1 Electronic Design for the MR1






306

Table 2: AX-12A specification

Item Specification
Input Voltage 9.0 ~ 12.0V (Recommended
11.1V)
Resolution 0.29°
Running Degree 0° - 300° (Joint mode)
Endless turn (Wheel mode)
Weight 24.6g
Operating Temperature -5 °C - +70 °C
Stall Torque 1.5 N*m (at 12V 1.5A)



The electronic system for the MR1 executes according to Figure 4, whereby the
electronics system will respond to the Bluetooth signal that has been sent using the Android

application. The user will control the motor using the Android controller. By this way, the
user has full control of the robot.






Smartphone Bluetooth Arduino
Mega R3






Wheel Shagai Electro
controller controller pneumatic
controller
Figure 4: Electronic system executions for the MR1




The main controller for the whole the MR1 system is the Arduino MEGA 2560 R3.
In this system, the Arduino Mega control six DC geared motor, two relays for switching the

electro pneumatic valve. There are no sensors that are attached to the robot for ROBOCON

Malaysia 2019 the MR1. The whole system is fully controlled using the real human ability
in controlling the robot.










307

2.2.2 Electronic Design for the MR2


The distribution of sensors and architecture of the processing units within the MR2
robot is shown in Figure 5.


























Figure 5: Block diagram of the MR2 robot



In accordance with ROBOCON 2019 rules, the MR2 must be equipped with four

legs and should be fully autonomous upon performing its task. Hence, this the MR2 was
equipped with a vision processing module OpenMV M7 as the vision sensor to provide the

robot with correct information during locomotion. The OpenMV Camera is a small, low
powered, micro-controller board which allows user to easily implement applications using

machine vision in the real-world. The camera is programed in high level Python scripts,
making it easier to deal with the complex outputs of machine vision algorithms and working

with high level data structures.

When OpenMV finishes processing the image, it sends the result to Arduino UNO

as the interface between all sensors with CM530 robot controller [4]. Aside OpenMV, this

robot also equips with three IR sensors and one DMS sensor as assisting equipment to
perform the robot task. All sensors information will be submitted through analog/digital

input of ARDUINO UNO micro-processor and the resultant output will be transmitted to
CM530 controller through UART. The MR2 will move according to movement instructions

received by CM530.







308

2.3 Software Design


2.3.1 Software Design for the MR1
The algorithm for the MR1 is build using the Arduino IDE software. The full

functions of the system are made according to Figure 6.



Start

Bluetooth connection establish




Bluetooth connected?


Arduino read instruction signal from Smartphone through
Bluetooth


Instruction from

smartphone



Arduino execute robot movement instruction.


Figure 6: Full system function algorithm for the MR1

According to Figure 6, the coding is quite straight forward. The algorithm just waits

for the signal that comes in from the user and executes the user selection plan.


2.3.2 Software Design for the MR2
Programmed algorithm of the autonomous robot (MR2) is shown in Figure 7. The

algorithm is visualized using flow-chart to provide better understanding.

According to the ROBOCON 2019 regulations, the MR2 is an autonomous robot.

Upon competition, this robot must carry an object called Gerege that is passed by the MR1



309

toward a check point, called Mountain Urtuu. Therefore, to ensure that this robot could

perform its task successfully, the programming algorithm in Figure 6 is designed before
actual programming is built and transfered to robot’s controller.
































Figure 7: Programmed algorithm of the autonomous robot the MR2

The MR2 must receive the Gerege on its gripper before the robot can start to move

towards Mountain Urtuu. After the robot successfully receive the Gerege, it then searches
whether there is an uneven terrain or rope in its direction. If no obstacle is detected, the robot

moves towards Mountain Urtuu by following the directed line. The robot will try to cross

over the obstacle if it detects the uneven terrain or a rope in its walking direction.


3.0 DATA ANALYSIS

This the MR2 was designed in O configuration morphology of quadruped robot as
presented in [5]. Load torque and temperature tests were conducted to evaluate the robot

performance during locomotion. Table 3 summarizes the results of the evaluation test.
Table 3: AX-12A specification
Ready to walk During walk After walk
(2 minutes standby) (3 minutes walk) (1 minutes standby)
ID
Operating Temperature Operating Temperature Operating Temperature
Torque Range (°C) Torque Range (°C) Torque Range (°C)
10 6.25% 34 - 39 13.28% 43 - 44 6.25% 49 - 50
12 9.38% 34 - 45 14.84% 48 - 50 12.50% 50 -51
14 6.25% 34 - 39 4.39% 44 - 47 7.03% 51 - 52





310

These data were collected from one of the legs of the quadruped robot. ID 10 and 12

represent the thigh yaw and pitch joint, respectively. ID 14 represents the ankle pitch joint.
From the results, we can conclude that the servo motor at thigh pitch joint (ID 12) receives

highest load during the operation. The temperature increases from 34 °C before walk to 52
°C after walking about six minutes. This result indicates that the robot could performthe

task within three minutes to compete in ROBOCON 2019 games.


4.0 CONCLUSIONS

This report presents the design and architecture of the MR1 and the MR2 robot of
PUO ROBOCON team that competed in the ROBOCON Malaysia 2019 competition. We

thank them for the support and encouragement.



5.0 ACKNOWLEDGEMENTS
This project is supported by Ungku Omar Polytechnic and Jabatan Pendidikan

Politeknik dan Kolej Komuniti (JPPKK).

References

[1] M. Jaishree, 2018, Design and implementation of omni-wheel robotic system under
automatic height control and adaptation Design and Implementation of Omni-Wheel
Robotic System Under Automatic height control and adaptation,” No. January.

[2] A. Phunopas and S. Inoue, 2018, Motion Improvement of Four-Wheeled
Omnidirectional Mobile Robots for Indoor Terrain,” J. Robot. Netw. Artif. Life, Vol. 4,
No. 4: 275.

[3] Palivela Arun Kumar et.al., 2017, Design of a Quadruped Robot and its Inverse
Kinematics,” Int. J. Mech. Prod. Eng. Res. Dev., Vol. 7, No. 4, pp: 241–252.

[4] M. Couto, C. P. Santos, and J. Machado, 2014, Modelling and design of a
tridimensional compliant leg for bioloid quadruped,” Appl. Math. Inf. Sci., Vol. 8, No.
4: 1501–1507.

[5] D. Dholakiya et al., 2019, Design, Development and Experimental Realization of a
Quadrupedal Research Platform: Stoch, No. January.




















311

UKM Robocon from Universiti Kebangsaan Malaysia


TEAM SUPERVISOR: Dr. Wan Aizon W. Ghopa
Dr. Anuar Mikdad Muad

TEAM ADVISORS: Prof. Ir. Dr. Rizauddin Ramli
Aqilah Baseri Huddin
Dr. Mohamad Hanif Mohd Saad

TEAM MEMBERS: Mohd Nizam Aswar
Ahmad Zofran
Raja Khairul Aswadi Raja Razaki
Mohd Sabri Jammang
Norhaziq Ishak (Author)
Gan Jian Jie (Author)
Muhd Hijjaz Farhan Mafuzah (Author)
Muhammad Khuzaini Hamdan (Author)



ABSTRACT

The main objective of ROBOCON Malaysia 2018 is to design a launching mechanism as

Messenger Robot 1 the MR1 and walking mechanism as Messenger Robot 2 the MR2. UKM

ROBOCON team has created two types of messenger robot with two different functions.
The MR1 is designed to pass the Gerege to the MR2 before the MR1 is allowed to lift and

throw the Shagai. Meanwhile, messenger robot with walking mechanism will carry the
Gerege and move towards the hill after Shagai has been thrown. Basic concept of

programming and Arduino platform were applied to generate the algorithm for walking
mechanism. The unique mechanism for the MR1 is the usage of two sets of sprocket for

lifting purpose. For launcher part, the use of 15 bars of pressure in pneumatic system

combined with mechanical concept helps to throw the Shagai into the target area.
Aluminium-based materials that was used for this project due to its lightweight and ease of

manufacturing characteristics. The overall process of exchanging information must be
completed within three minutes.


1.0 INTRODUCTION

ROBOCON 2019 is an open national level of robotic competition. The mission of

this competition is to deliver information by using a relay messenger system. In order to win

the competition, technical skill is crucial for designing and assembling two types of robots
which are the MR1 and the MR2. These robots are based on the Urtuu system [1], invented




312

by the nomadic Mongolians to exchange and to share knowledge. The theme of ROBOCON

Malaysia 2019 is Sharing of Knowledge and with the slogan Satu Langkah, Seribu Lonjakan
which was derived from horse stride in the Urtuu system for exchanging messages.

UKM ROBOCON team prepares two types of robots to fulfil the criteria and rules

given by the organizer. The MR1 has wheels and launching system. The MR1 must

complete the task of throwing Shagai, complete the track in the fastest time and pass the
Gerege to the MR2. This the MR2 must be designed with a stable walking system in order

to overcome complex obstacles on the track.

The conceptual design of the MR1 is based on a mobile robot which has a DC motor

attached to the wheel for driving on the floor as shown in Figure 1. The robot consists of
mechanical and electrical sub-systems. The mechanical subsystem consists of the robot’s

case, chassis and four omni-directional wheels. Furthermore, the MR1 has an ejector that is

able to throw the Shagai into the target area. As stated by Huang et al. [2,] robot with more
than three wheels is more powerful. The electrical sub-system consists of a DC motor drive,

motor control, and software and communication circuit. Albahal et al. [3] mentioned that
robot kinematics is fundamental to control the straight movement of the robot in the XY-

plane.

On the other hand, the design of the MR2 (shown in Figure 2) was inspired by the

movement of four legged animals. The MR2 is the most complicated robot that requires

coding complexity, mechanical system and weight distribution. Michael et al. [4] state that
to maintain the stability, all electronics parts are placed at the centre of the body. For this

project, the MR2 design consists of 16 degrees of freedom (DOF). This value of DOF is
acceptable since Claudio et al. [5] state that three actuated-revolute DOF is the minimum

that is required to allow a foot positioning in a three-dimensional work-space around the
hip.

















313

2.0 MR1 AND MR2 DESIGN
































Figure 1: Detailed design for the MR1





































Figure 2: Detailed design for the MR2









314

2.1 Mechanical Design


2.1.1 Messenger Robot 1 (MR1)
The MR1 was designed for transportation, loading and launching. The robot is

assembled using aluminium square that was connected using brackets and rivets.

Aluminium based material was chosen for current design because of the structure for
loading condition and easy to fabricate. The design uses sets of motor and omni-wheels with

pneumatic system to complete heavy task. It has four DC motors attached to the omni-wheel

for left-right and forward-backward movements. The uniqueness of the MR1 is that it has
two sets of sprocket to help the lifting force of the Shagai. In addition, the design of the

MR1 consists of five degree of freedom. The maximum weight for the MR1 is
approximately 18 kg with the dimension of the main body was measured at 550 mm x 528

mm.

The end effector for grip mechanism for the Gerege was done using a gripper

connected with servo motor. Based on finite element analysis, the MR1 can support the
weight more than 5 kg. Pneumatic sliding shot mechanism is used to throw the Shagai into

the target area with the help of pneumatic piston and mini compressor. For this purpose, 1.5

L bottles was used as air tank.

2.1.2 Messenger Robot 2 (MR2)

The MR2 acts as a travelling robot that is able to face obstacles on the track and
climb the hill of the platform. The idea of this robot was inspired from the movement of a

walking cat. For the current design, the MR2 uses four legs to maintain the stability of its

movement. Each leg has specific coding to produce simultaneous motion. This design helps
improve the MR2 speed, loading and safety of the robot. The MR2 works with 16 degrees

of freedom (DOF).

The mechanism of the Gerege holder is like a storage box. This is to ease and shorten

the time taken for the passing process of the Gerege from the MR1 to the MR2. From the
finite element analysis, the design for the MR2 records minimum and maximum safety

factor of 15 with an applied load of 2 kg.











315

Figure 3: Bill of material for the MR1





































Figure 4: Bill of material for the MR2







316

2.2 Electronics and Programming

For the electronics part, the component that we used to move the robot’s leg is

Analog Servo – HD-1501MG with 60 g of weight and the stall torque is 17 kg/cm. In order
to make the robot able to turn left, the turning process will make the left leg takes a small

step while the right leg takes a huge step, and vice versa. For the part where the robot throws
the Shagai, the component used is a DC Motor. Each of the components used is powered

and supplied by a 7.4 V 2200 mAh battery. The connection synmethic only involves the
MR1 and the MR2. For the MR1, cable connection control is used in order to prevent noise

of “wireless” (interference occurs).

For the MR2, the components that involved in the integration process consists of

eight units for analog Servo ( 17 kg/cm of torque, weigh 60 g, supply voltage of 6.0 V ),

eight units of battery ( 7.4 V 2S 2C 2200mAh ), 50 units of jumper wire ( Male to Female
type ), one unit of Arduino Mega, one unit of breadboard and one unit of protoboard. In the

programming part, Pixy for image processing is used for the first trial, with consideration
of outer noise effect of image processing. However, due to imminent reasons, changes were

made to hard-coding with trial and error method. Figures 5 and 6 show the schematic
diagram for the MR1 and the MR2, respectively.


3.0 SCHEMATIC DIAGRAM FOR MR1 AND MR2

































Figure 5 Schematic diagram for the MR1



317

Figure 6 Schematic diagram for the MR2



3.1 Finite Element Analysis (FEA)

Figure 7 illustrates FEA result for the MR1 launcher. The analysis was performed
by using Autodesk Fusion 360. Based on the result, the minimum and maximum value of

safety factor recorded are 0.01547 and 15, respectively. The result for the MR2 is shown in

Figure 8. The minimum and maximum value of safety factor recorded is 15. Hence, the
structure of the design is durable.


























Figure 7: FEA for the MR1 launcher




318

Figure 8: FEA for the MR2 Leg




4.0 CONCLUSIONS

The MR1 and the MR2 were successfully designed, and able to exchange

information with the help of both mechanisms. The MR1 was designed to carry and insert
the Gerege into the holder box of the MR2. In addition, it was also designed to lift and throw

the Shagai to the target area before the MR2 can start climbing the hill. Sprocket is the main
component for lifting while the pneumatic piston acts as a launcher. In order to throw the

Shagai with optimum speed and distance, 15 bars of pressure are required. For the MR2, the

movement of the legs was programmed with hard-coding using Arduino platform.


5.0 ACKNOWLEDGEMENTS

This project was fully funded by University Kebangsaan Malaysia (UKM). We
thank to Dr. Wan Aizon W. Ghopa, Dr. Anuar Mikdad, Assoc. Prof. Ir. Dr. Rizauddin Ramli,

Dr. Mohd Hanif Md Saad and Dr. Aqilah Baseri Huddin for their valuable advises and
support. We would also like to show our gratitude to the UKM ROBOCON team-mates for

their cooperation and commitment during the project.
















319

References

[1] Gantuya P., 2011, Information, communication history of Mongolians, MITA, pp: 362-
366.

[2] L. Huang, Y. S. Lim, David Li and Christopher E. L. Teoh, 2004, Design and Analysis of a Four-
wheel Omnidirectional Mobile Robot, 2nd International Conference on Autonomous Robots and
Agents, Palmerston North, New Zealand, pp: 425-427.
[3] H. Albahal, A. Algabri, S. Alarifi, N. Alsayari, A. Fardoun, and K. Harib, 2010, Design of a
Wheeled Soccer Robot, 7th International Symposium on Mechatronics and Its Applications,
Sharjah, pp: 1-6.
[4] Michael P. Murphy, Aaron Saunders, Cassie Moreira, Alfred A. Rizzi and Marc Raibert, 2010,
The Little Dog Robot, The International Journal of Robotics Research, pp: 1-5.

[5] Claudio Semini, Nikos G. T., Emanuele G., Michele Focchi, Ferdinando Cannella and Darwin
G. C., 2011, Design of HyQ – a Hydraulically and Electrically Actuated Quadruped Robot”.
IMechE Part I: J. Systems and Control Engineering, pp: 1-20.




























































320

UTHM from Universiti Tun Hussein Onn Malaysia

TEAM SUPERVISOR: Dr Chia Kim Seng

TEAM ADVISORS: Ong Jia Heng
Yu Yuen Hern

TEAM MEMBERS: Tan Zi Hong
Sam Kar Hong
Lio Wei Yong


ABSTRACT

This report describes a four legged auto-robot and a manual robot. Both robots’ mechanisms
were designed using SOLIDWORKS® CAD Software. As for the circuit design, we make

use of PROTEUS 8.0 to produce a PCB layout.


1.0 INTRODUCTION

In ROBOCON Malaysia 2019, as the representative team for UTHM, our target was
to achieve championship in this year’s tournament. Our motivation for this tournament is to

gain knowledge and make UTHM visible in the area of robotics.



2.0 DETAILED DESIGN
This chapter contains several parts which details the robotic, mechanical, electronic

and software designs. The designs are separated into two parts: the electronic part and the
mechanical part.


2.1 Mechanical Design

The Mechanical design is shown in Figures 1 and 2.




























321

Figure 1: Structure design



















Figure 2: Design specifications






















322

2.2 Electronic Design


The design of the circuit is based on Figures 3 and 4. In this circuit, MOSFET is
connected to Arduino to control the speed of rotation of power window motor. The IR sensor

is used to detect the motion of the robot.





















Figure 3: Schematic Diagram





















Figure 4: PBC Layout











323

2.3 Software Design

For the programming of the software, we used Arduino. The programme is shown in Figure

5.


































Figure 5: The pogramming of the software



























324

3.0 ROBOT TESTING


Figures 6 to 8 demonstrate the robot during test run.



















Figure 6: Robot’s first step Figure 7: Robot’s second step


























Figure 8: Robot’s third step


























325

4.0 CONCLUSION

In conclusion, a four legged robot with the right mechanism will be able to walk

across all the obstacles and reach the top of the Mountain. The limitation we faced was that
the robot was not able to walk very fast in order to maintain its balance. The robot can be

modified by increasing the length of the feet for making it more stable.


5.0 ACKNOWLEDGEMENTS

We want to express our gratitude and appreciation to our ROBOCON team manager,
Dr Chia Kim Seng.


References


[1] Datasheet of MOSFET IRFZ44N:
http://www.alldatasheet.com/view.jsp?Searchword=Irfz44n&gclid=CjwKCAjw4LfkB
RBDEiwAc2DSlN0PLk5Z5WTJO87o4JRd9BM5GvFqnaIlSEayU3QKTV73VB-
yPKNaWxoCHLAQAvD_BwE
[2] Richard G. Budynas ,2011, Shigley’s Mechanical Engineering Design, Ninth Edition,
McGraw-Hill.


































326

KOKOS from Kolej Komuniti Segamat

TEAM SUPERVISOR: Firdaus Bachok

TEAM ADVISOR: Aslinda Binti Mohd Noor

TEAM MEMBERS: Normah Binti Auyob
Khairul Anuar Bin Selamat


ABSTRACT

In this competition, each team is required to build two robots that will perform certain tasks.
The first robot, named the MR1, can be controlled automatically or using a Blootooth

connection. The MR1 must passed the Gerege to the second robot, the MR2 through a pre-
determined path. The MR2 must carry the Gerege to Mountain Urtuu and pass through

obstacles which are the Sand Dune and Tussock. After the MR2 has reached Mountain
Urtuu, the MR1 will pick up the Shagai and throw it the Landing Zone. After obtaining a

certain number set by the game, the MR2 can move to the Uukhai Zone by climbing the

Mountain area. At the Uukhai Zone, then the MR2 must raise the Gerege in order to
complete the task and finish the game. Each run is limited to three minutes. After three

minutes, the winner is based on which team obtains the highest mark.


1.0 INTRODUCTION

In the process of building the robots for ROBOCON competition, one team was
created that consists of multiple disciplines. The diciplines are divided into:


1. Stretegic Division
2. Mechanical Division

3. Electrical and Electronics Division
4. Programming Division

The strategic division plans the entire workforce and coordinates the development

of robot ideas and concepts.

The mechanical division is responsible for developing the mechanical parts of the
robots as agreed in the process of developing the idea and concept of the robot.


Electric and electronic division is responsible for wiring, motor and sensor
connections and the safety features required when operating a robot.






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The programming division is responsible for automating the robots that have been

developed.

Each team interacts and works together to ensure that the robots being developed
can perform the tasks well.



2.0 MESSENGER ROBOT 1 (MR1)

As shown in Figure 1, the MR1 was developed with manual control. The control
method is operated by using the Bluetooth connection and using the arduino shield joystick

module. The navigation system uses a mecanum tire that can move and rotate at the center
of the robot. The Gerege submission method uses a servo motor that acts as a Gerege clamp.






























Figure 1: Diagram of the MR1 robot circuit block



The control circuit for the MR1, shown in Figure 2 consists of the Arduino Mega
2560 board. The Arduino control board was chosen because of its low price for compatible

arduino type, easy programming as there are many tutorials and libraries available on the
internet for use. The Arduino Mega was chosen because it has a larger number of GPIOs

and has four usable serial communication connections. GPIO is needed for motor control,
and each motor requires two GPIOs for direction and speed control. While serial

communication is required for Bluetooth connection and trouble shooting via serial monitor.








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Figure 2: Diagram of the MR1 robot control circuit block


The bluetooh type communication connection, shown in Figure 3, was chosen

because of its easy, inexpensive and easy-to-use connection. The bluetooth module used is

HC-05 type as it can be set as master and slave for binding purposes. This method can avoid
third-party controlled robots.













Figure 3: Module of bluetooth HC-05


The arduino shield joystick module controls, shown in Figures 4 and 5 have a

joystick that can be used for navigation controls and seven push buttons that can be
programmed to perform other tasks, such as lifting and mounting the Shagai. This module

was selected because it has connectivity available for NRF24L01 type I2C, serial and wifi

communications. In this robot development, we use Bluetooth modules with serial type
communication.








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Figure 4: Arduino shield joystick module


























Figure 5: Examples of navigation controls Arduino shield joystick module

Note: The abcd values used in the programme are 100, 400, 600 and 900


The MR1 navigation system uses mecanum tires. This is to facilitate the movement
of the robot. By using mecanum tires, the robot can be moved with a direction like the

diagram shown in Figure 6. Four tires are required to allow the robot to move.






















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Figure 6: Mecanum tire



The power supplies used are SLA (sealed lead acid) in Figure 7 and LiPo (Lithium
Polymer) batteries shown in Figure 8. The SLA battery used is six cells with a voltage of 12

V and a capacity of 7.2 Ah. This SLA battery is used to move the motor. The LiPo batteries
used are three cells, 11.1 V voltage and 2.2 Ah. This LiPo battery is used to activate the

control circuit.




























Figure 7: SLA battery






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Figure 8. LiPo battery


3.0 MESSENGER ROBOT 2 (MR2)


The MR2 needs to be developed automatically. The way to move is to have four legs
like a horse. Many pedestrian methods have been tried in the MR2 development process.

Among the methods are using a servo motor with spiders such as spiders and movements
using a servo motor have been used for horse-like movements. The use of servo motors for

speeding purposes is highly inappropriate due to the slow movement. In addition to slow

movement, great challenges are also encountered in securing movement stability.

















Figure 9: Servo motor Figure 10: DC geared motor



After the trial of servo testing fails to reach our goal, we explore using different types

of motors for leg movements. The first motor used is the DC geared motor. The challenge

we encounter is maintaining the feet in one of the pre-determined positions. This problem
can be solved by using a power window motor with a geared worm.










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Figure 11: Power window motor




Various methods of movement using the motor power window have been used and
have encountered various challenges in securing stable movement. After referencing the

website and youtube we try to adapt the successful movement of the ROBOCON
competition overseas. The process of adapting this movement is not an easy task. Some

attempts have failed. After doing several research on the problem, we manage to move the
robot's foot.



4.0 CONCLUSION
In conclusion, the process of developing a robot requires a combination of several

specialties including programming, electrical and electronic, mechanical, automation and
management skills. Developing a project requires high levels of commitment and endurance

because there are challenges. In building the MR1 and the MR2 robot builders, we have

developed several prototypes that failed to work as desired. Endless efforts have enabled us
to produce robots that could do some basic tasks. Overall, we have learned a lot during the

robot development process, but there is still much to be learned on robotic construction and

knowledge especially in mechanical aspect and robotics.






















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