ROBOCON 2020 Robot Design Handbook

ROBOT DESIGN HANDBOOK Editor Nik Nur Wahidah Nik Hashim Yasir Mohd Mustafah Amelia Wong Azman Hanan Mokhtar Hazlina Md. Yusof



ROBOT DESIGN HANDBOOK Editors: Nik Nur Wahidah Nik Hashim, Yasir Mohd Mustafah, Amelia Wong Azman, Hanan Mokhtar, Hazlina Md. Yusof



The book ROBOT DESIGN HANDBOOK is published by Centre for the Professional Development (CPD), IIUM. Centre for Professional Development (CPD) International Islamic University Malaysia Jalan Gombak, Selangor Darul Ehsan, MALAYSIA Tel: +603-6421 5914/ Fax: +6421 5915 Email: [email protected] Website: www.iium.edu.my/centre/cpd First published in 2020 Publication © Centre for Professional Development, IIUM. © All rights reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording or otherwise except brief extracts for the purpose of review without the prior permission in writing of the publisher and copyright owner from Centre for Professional Development, IIUM. It is advisable also to consult the publisher if in any doubt as to the legality of any copying which is to be undertaken. National Library of Malaysia Cataloguing-in-Publication Data ROBOT DESIGN HANDBOOK EDITOR: Nik Nur Wahidah Nik Hashim, Yasir Mohd Mustafah, Amelia Wong Azman, Hanan Mokhtar, Hazlina Md. Yusof eISBN 978-967-12577-9-1 1. Robot Design 2. Design Handbook

TABLE OF CONTENT EDITOR’S NOTE / 1 THE CONCEPT OF ROBOCON MALAYSIA 2020 / 2 UTEM FROM UNIVERSITI TEKNIKAL MALAYSIA MELAKA / 3 UNIMAP FROM UNIVERSITI MALAYSIA PERLIS / 11 APU TIGERS FROM ASIA PASIFIC UNIVERSITY OF TECHNOLOGY AND INNOVATION / 17 THUNDERBOLT FROM UNIVERSITY TENAGA NASIONAL / 29 UMS FROM UNIVERSITI MALAYSIA SABAH / 39 INGENIEURS FROM UNIVERSITI TUN HUSSEIN ONN MALAYSIA BATU PAHAT 2 / 47 UTM A FROM UNIVERSITI TEKNOLOGI MALAYSIA / 63 TARUCBOTICS V3 FROM TUNKU ABDUL RAHMAN UNIVERSITY COLLEGE / 77 SUNWAY UNIVERSITY / 89 SALMAH & MEON FROM UNIVERSITI TUN HUSSEIN ONN MALAYSIA (PAGOH) / 101 MMU CYBERTRON FROM MULTIMEDIA UNIVERSITI CYBERJAYA / 111 DYROTECH FROM UNIVERSITI TEKNOLOGI MARA CAWANGAN PASIR GUDANG / 121 TATITROOPS FROM TATI UNIVERSITY COLLEGE / 131 USM FROM UNIVERSITI SAINS MALAYSIA / 141

155 / TEAM MONASH FROM MONASH UNIVERSITY MALAYSIA 165 / WALLABIES UOWMKDU FROM UOW MALAYSIA KDU UNIVERSITY COLLEGE 177 / UKM FROM UNIVERSITI KEBANGSAAN MALAYSIA 187 / UMPBOT FROM UNIVERSITY MALAYSIA PAHANG 199 / UTHM 1 FROM UNIVERSITI TUN HUSSEIN ONN MALAYSIA (BATU PAHAT) 1 209 / UTM B FROM UNIVERSITI TEKNOLOGI 219 / URT FROM UNIVERSITI TUNKU ABDUL RAHMAN 227 / TEAM MIU FROM MANIPAL INTERNATIONAL UNIVERSITY 237 / REC FROM UNIVERSITY OF MALAYA 247 / PSA FROM POLITEKNIK SULTAN SALAHUDDIN ABDUL AZIZ SHAH 263 / ROBOTEAM FROM INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA 273 / TEAM UTAR KAMPAR FROM UNIVERSITI TUNKU ABDUL RAHMAN KAMPAR 289 / ROBUST ROBOTICS FROM UNIVERSITI PERTAHANAN NASIONAL MALAYSIA 301 / ROBOTECH FROM POLITEKNIK PORT DICKSON 315 / KOGAS A AND KOGAS B FROM PUSAT LATIHAN TEKNOLOGI TINGGI (ADTEC) KULIM 327 / BM HERO FROM INSTITUT KEMAHIRAN TINGGI BELIA NEGARA BUKIT MERTAJAM

EDITOR’S NOTE This handbook compiles technical design notes from the teams that have participated in ROBOCON Malaysia 2020. Every chapter details how the team design their robots to achieve the mission specified in ROBOCON Malaysia 2020 rules. Every report consists of three sub-topics: mechanical design, electronics circuit design and programming. A special section included in this year’s book is the sustainable engineering practices. The reports presented in this collection are written in English. The purpose of this book is to share and pass on the valuable knowledge of engineering and robotics to other robotic enthusiasts especially in Malaysia. This book is a continuation from the previous ROBOCON Malaysia 2019 Robot Design Handbook that sets the trend of knowledge sharing from the ROBOCON Malaysia competition. We hope this book series would be a reference for future robotics competition and robotics enthusiasts with the aim of being able to develop more advance robotics system by learning from the experiences of others.

The Concept of ROBOCON Malaysia 2020 This year’s concept of ROBOCON Malaysia 2020 follows the same concept from Asia- Pacific Broadcasting Union (ABU) ROBOCON 2020 that is going to be held in FIJI where competitors from around the world will participate. The theme for this year’s competition is to play rugby 7’s game using two robots with five defending players representing as five obstacles. The two robots that are either manual or automatic, will collaborate to score Try and Goal Kick using the unique shape of the rugby ball. The two robots are known as Pass Robot (PR) and Try Robot (TR). The game is designed to last for 3 minutes at most be- tween a Red team and a Blue team. The PR starts from the PR Start Zone. The PR picks up one Try Ball from the Ball Rack and passes the Try Ball from the Passing Zone to TR located in the Receiving Zone. The TR starts from the TR Start Zone and moves into the Receiving Zone to receive the Try Ball from PR. The TR then goes along the five defending Obstacles to score the Try in the one of the five Try Spots. After a successful Try by TR, a kick step can be taken from the Kick- ing Zone to make the Goal. The game continues until all the seven Kick Balls are used or when the 3 minutes passed. Game Field – Areas and Zones: Game Field – Objects:

UTEM UTEM FROM UNIVERSITI TEKNIKAL MALAYSIA MELAKA Muhammad Herman Jamaluddin, Iqbal Hakimi Mohammad Feirdaus, Tan Kim Loong, Iszuzuldin Amirull Mohd Janudin, Muhammad Luqman Sa’adon, Mohd Akhmal Syafi Md Yazid, Muhammad Syahmi Bahrudin, Kirthen A/L Kaliselvan Association of Inventive, Innovative and Creative Thinkers UTeM, Universiti Teknikal Malaysia Melaka, Jalan Hang Tuah Jaya, 76100 Durian Tunggal, Melaka. ABSTRACT The use of robots to perform various tasks has expanded to civilian use and is no longer just dominated by professionals. Today, different types of robot design and sizes are available in the market. Studies shows that there is a strong demand for the development of robots especially in the heavy industries. Different robots have different abilities and they were usually built to perform a specific task. In our case, we had built two robot which one of them that called the Pass Robot have to kick and pass a rugby ball while the other robot also named as Try Robot need to receive the rugby ball and do the try at the given try spot. Our robot is unique because generally we used recycled materials which lead to the building costs that is not more than RM 1000 for both of the robots. Moreover, our robots were developed to have the minimal maintenance which could save a lot money and time. 4

1.0 INTRODUCTION UTEM Robotics is also referred to as an invention that has become ubiquitous all over the world. It is suited for dull, heavy and even dangerous tasks where the pi- lot’s safety is the utmost concern. Development of robots was once driven by pro- fessionals such as exploration that has gradually expanded for various applica- tions such as in the automotive industries or other factories and many more. On the industrial side, 422,000 robots were shipped in the year 2018, a 6% increase from 2017. More than half of the robots were bought by automotive and electronics companies, which came as a surprise amid the tough market conditions facing these industries in 2018. Metal and machinery, chemicals, and food and beverage sectors also accounted for a significant chunk of robotic demand during the period. It’s true that more robots than ever are participating in the human labor force. Last year, businesses worldwide spent $26 billion employing some 70 million robots on manufacturing and service jobs, according to the World Robotics Report published by the International Federation of Robotics (IFR). In our case, we have been preparing our robots for the ROBOCON Malay- sia 2020 contest where the task given is to play a rugby 7’s game using two robots and five obstacles as five defending players. The highlight of this game is how the 2 robots collaborate to attain attempt to the Goal Kick. The main and unique chal- lenge of this game is going the Goal Kick, kicking the Kick Shock the crossbar of the conversion post with the unique shape of the rugby ball. Our target is to make our Kick Robot kick the ball into the goals successfully. The game is a challenge between Red and Blue teams. The game should be completed in three minutes at most. Each team has two robots referred to as Pass Robot (PR) and check out Robot (TR). The two robots could be either manu- al or automatic. The PR starts from the PR Start Zone. Then the PR picks up a Try Ball from the Ball Rack and passes the Try Ball from the Passing Zone to TR locat- ed within the Receiving Zone. The TR will then move starting from the TR Start Zone and then moves into the Receiving Zone to receive the Try Ball from PR. The TR then goes along the five defending Obstacles to attain the Try within the one among the five Try Spots. After a successful Try by TR, a kick step will be taken from the Kicking Zone to form the Goal. The game continues until all the seven Kick Balls are used or when the three minutes passed. 5

UTEM 2.0 DETAILED DESIGN Aluminium was used as the main material for our robots (Pass and Try Robot) . We applied potential, kinetic and mechanical energy techniques for passing and kicking the rugby ball to the Pass Robot by using rubber tube and metal spring. For the Try Robot, the momentum and kinetic technique is applied to it, to receive the rugby ball from the Pass robot. To make it easier to receive the throw ball from Pass Robot, we used nettings to catch it. Figures 1-6 show the design of our robots. Figure 1: Pass Robot (PR) Figure 2: Try Robot (TR) Figure 3: Pass mechanism 1 Figure 4: Pass mechanism 2 Figure 6: Try mechanism 6

2.1 ELECTRONIC DESIGN UTEM Circuit and components for Pass Robot and Try Robot. For the electronic design, we used Proteus to layout the connection wiring from each pin Arduino to pin sensor or driver. Figure 7: Circuit Diagram for Pass Robot Figure 8: Circuit diagram for Try Robot 7

UTEM Components for Pass Robot: Components for Try Robot: • Arduino MEGA 2560 • Arduino MEGA 2560 • Stepper Motor Driver • Stepper Motor Driver • Stepper Motor • Stepper Motor • mecanum Wheels • Mecanum Wheels • Toggle Switch • DC Motor • Limit Switch • Toggle Switch • 12v 80a Relay • Limit Switch • Power Window Motor • 6 Channel 2.4GHz Receiver • Servo Motor Mg946r • 2.4GHz Transmitter • 3d Print Model • DC Motor • Bicycle Gear and Chain • Toggle Switch • 9 Channel 2.4GHz Receiver • Limit Switch • 2.4GHz Transmitter • 6 Channel 2.4GHz Receiver • 2.4GHz Transmitter 2.2 SOFTWARE DESIGN Programming for Pass Robot and Try Robot Arduino Integrated Development Environment (IDE) – program the Arduino board by using C and C++ language. • Proteus – design and layout the circuit/wiring connection between Arduino board and input/output sensor. • AutoCAD – draw 3D model and export out into STL file. • Ultimaker Cura – convert .STL file (export for AutoCAD) to .GCODE file, to apply in #D printer and print OUT. Figure 9: Convert .STL file to .GCODE file- Ultimaker CURA 8

3.0 DISCUSSION UTEM We used rubber tubes as the main transmit ball material, because it has constant spring ability and is easy to install and change. Rubber tubes can be reused so there is no need for charging as the pneumatic system which needs rechecking and reloading of air pressure after a sho For both robots, we focus on reusing material, our aim is if we can use we use it, if can’t use we buy it. We have also replaced the high ampere motor driver with high amperage relay (12 Vdc,80 A) to reduce the developement cost. We have also tried to use low cost components to get the same effect as a motor driver. Although the relay cannot control the motor speed, this did not matter as we just need the motor to just rotate clockwise and anti- clockwise with high current flow. 4.0 SUSTAINABLE ENGINEERING PRACTICES Most of the material used to develop these two robots were aluminium (tube, profile, block and join), metal bicycle gear, chain, wood plate, stepper motor, DC motor, DC/ stepper motor driver, and mecanum wheels, this all things were available from the previous projects from their final year project which is left at our lab, plus some material like DC motor, DC/stepper motor driver, and mecanum wheels were also collected from previous competition. There only a handful of the items that we have to buy to be applied to the two robots, like rubber tube, aluminium rivet (to join the aluminium) and 3d print parts. Both robots used reused material up to 85%, and the other 15% were bought or printed and applied on the robot. 5.0 CONCLUSIONS In conclusion, we have fully applied our knowledge to design the robot including the circuit layout up to the completion of the robots. The robots have also been tested where the Pass Robot can throw and kick the rugby ball, and the Try Robot can catch the rugby ball. On top of that, we have also achieved our goals on sustainability such as using reused material, and fixing the high ampere motor issues by replacing the driver to relay. There were a lot of hurdles in the process to complete our robots where most members have problems to come back to the institution for discussion and building the robot together due to the COVID-19 pandemic. Another limitation was on our knowledge and also budgetary. Nevertheless, we have put all our effort into trying to apply all the knowledge that we know to build the robot. 9

UTEM Acknowledgements First of all, we would like to express our very profound gratitude to our parents for providing us with continuous support, encouragement and patience throughout the process of developing the robots. We would like to express my sincere gratitude to our advisor, Prof. Madya Dr. Muhammad Herman Bin Jamaluddin for the continuous support of our project, for his patience, motivation, and immense knowledge. We take this opportunity to express gratitude to our colleagues, Ong Zhi Feng,Abdul Qawim Bin Zukri, Nik Ahmad Azamuddin Bin Nik Azman and Atiq Fajar Bin Jamali from Associative of Inventive, Innovative & Creative Thinkers UTeM for their help, support and guidance especially during the assembling stage. Finally, we would also want to express our appreciation again to all of our friends for their guidance and suggestions towards improving my project. 10

References UTEM 1. Kurfess, Thomas R. (1 January 2005). Robotics and Automation Handbook. Taylor & Francis. ISBN 9780849318047 2. Research and Development for Next-generation Service Robots in Japan, United Kingdom Foreign Ministry report, by Yumiko Moyen, Science and Innovation Section, British Embassy, Tokyo, Japan, January 2009. 3. Patic, Deepack; Ansari, Munsaf; Tendulkar, Dilisha; Bhatlekar, Ritesh; Naik, Vijaykumar; Shailendra, Pawar (2020). \"A Survey On Autonomous Military Service Robot\" 4. \"Universal Robots collaborate outside enclosures | Control Engineering\". Controleng.com. February 2013. Archived from the original on 2013-05-18. 5. \"A Brief History of Collaborative Robots\" Archived 2016-06-10 at the Wayback Machine Engineering.com, May 19, 2016 6. \"Nanobots Play Football\". Techbirbal. Archived from the original on 2013-04-03. Retrieved 2014-02-08. 11

UNIMAP UNIMAP FROM UNIVERSITI MALAYSIA PERLIS Ismail Ishaq Ibrahim1, Sukhairi Sudin1, Mohammad Asyraaf Ibrahim1, Afifuddin Anuar1, Muhammad Akmal Ariff1, Mohamad Azreel Amrey Zainol2, Nuraini Izzati Rosli2, Nurul Nabilah Nazer2, Siti Aisyah Batrisyia Shamsul Affandi1, Mior Muham- mad Firdaus1, Ahmad Hasif Izzudeen Ahmad Tazudin1, Zakirah Zaludin3, Nureen Faqihah Zumardi1, Allya Shahira Ahmad Zaini1 and Nur Dina Mohd Fadil1 1Faculty of Electrical Engineering Technology, FTKE 1 Building, Kampus Pauh Putra, Ulu Pauh, 02600 Arau, Perlis 2 Faculty of Mechanical Engineering Technology, Kampus Pauh Putra, Ulu Pauh, 02600 Arau, Perlis 3Faculty of Electronics Engineering Technology, Kampus Pauh Putra, Ulu Pauh, 02600 Arau, Perlis ABSTRACT Two robots were built as a requirement for participation in the ROBOCON Malaysia 2020 which carries the theme “Robo Rugby 7s”. The robots developed are called Pass Robot (PR) and the Try Robot (TR). To fulfil the task of this competition, the UniMAP team has decided to use manual robots for both PR and TR. The TR has been designed as a basket with a trap door underneath it to release the ball when it successfully enters the basket. There is also a “leg” for kicking located at the back of the robot. The design for the 12

PR has been adapted from a catapult design using pneumatic actuator as the source of UNIMAP catapulting force. During the testing session, the PR has successfully picked the ball and managed to throw it to TR in just 4 seconds. While the time for TR to finish placing the ball in the try spot was 6 seconds. Finally, the time taken for the ball to be placed for kicking and to finish kicking was only 12 seconds. This year, our team has successfully utilized pneumatic systems and we managed to cut the throwing time by almost 50 seconds and thus makes our robot unique. In terms of materials, both robots were made by reusing alu- minium taken from previous robots and we managed to cut back in buying new aluminium. Almost all of the material used in building this robot was taken and reused from older and non-usable robots. Furthermore, these robots can be utilized for agriculture applications where the catching mechanism can be adapted to gather fruits from a tree and can be placed at the designated gathering area. 1.0 INTRODUCTION The design of the TR robot is targeted to be fast and agile as the robot needs to make it to the try spot in the shortest time and goes to the kicking area to kick the ball. Hence, the main strategy is to equip the robot with a 24V DC motor with high rpm. By doing this, the robot can move faster than a 12v DC motor. TR will put the ball in the nearest try spot first to cut short the time for the robot to return to the kick zone. For PR, this robot was made to be accurate as well as the catapult system must be powerful enough to throw the ball at least 2.5 metres away with the shortest arc possible. 2.0 DETAILED DESIGN 2.1 MECHANICAL DESIGNS Figure 1: First design of PR 13

UNIMAP The first design as in Figure 1 consists of a catapult powered by a motor to pull the lever downwards and lock the lever in position to scoop up the ball and get ready to catapult the ball into the air. Figure 2: Final design of PR After a few upgrades, finally the PR robot manages to be equipped with the pneumatic system. The pneumatic actuator will push the lever upwards and make the ball fly through the air through a constant trajectory. Figure 3: First Design of TR 14

The first design of TR is just equipped with a basic basket with a trapdoor UNIMAP underneath for the ball to roll out with a flap that prevents the ball from over rolling out of the try spots. Figure 4: Final design of TR There were not many modifications made to the TR except for the size of the said basket. The bigger the size of the basket, the less time needed for the person controlling the TR robot to manoeuvre it to catch the airborne balls. 3.0 ROBOT TESTING The testing that was done by our team was more like a trial and error kind of test. The first design was built as a template or a prototype for testing the force needed for PR to make a successful pass to PR. It is also a prototype to test the speed and the manoeuvrability of TR. 15

Table 1: First design time taken Design Task Time 1st Design Throwing 25 seconds Try 20 seconds Kicking 45 seconds UNIMAP As can be seen in table 1, it clearly shows that the time taken for throwing is a staggering 25 seconds, for the ball to reach the try spots were 20 seconds and to kick the ball, we needed 45 seconds. Overall all, we needed more than 3 minutes to successfully try 3 balls and kick only 2 balls. Table 2: Final design time taken Design Task Time Final De- Throwing 4 seconds Try 6 seconds sign Kicking 12 seconds Table 2 shows the new time taken after improvement on the design and system for both robots, TR and PR. As we can see from Table 2, we only need 4 seconds to make a successful throw, 6 seconds to make a try and 12 seconds to make a successful kick. Overall, we manage to make 5 successful tries and 5 successful kicks within 3 minutes 4.0 DISCUSSION / EVALUATION OF FINDINGS From the results we managed to cut the time to complete a round of throw, try and a kick by almost 75%. This clearly revealed that just by improving the design and the system, the robots’ performance may improve leaps and bounds. We successfully incorporated the pneumatic system for the first time and these findings will be our most precious knowledge that we acquired in this competition. 5.0 SUSTAINABLE ENGINEERING PRACTICES The most common sustainable engineering that we always practiced is we would try to reuse as much as possible the materials from older and non-usable robots. We try to never buy materials more than what is needed. By reusing these materials, we have cut down the usage of new materials and eventually cut down the materials that might be thrown away. 16

6.0 CONCLUSIONS, LIMITATIONS AND RECOMMENDATIONS UNIMAP In conclusion, the robot that we build manages to complete the task for ROBOCON Malaysia 2020 successfully. The limitations for this team is that the robots can only run for 2 consecutive games before the battery needs recharging. As for recommendations, we would recommend using pneumatics systems for all of the parts movements except for the wheels and for the wheels, we recommend using a high rpm and high torque motors for faster movements across the game field. Acknowledgements First of all we would like to thank Allah S.W.T for His mercy and graciousness, we were blessed with a wonderful team. Thank you team members Mohammad Asyraaf Bin Ibrahim, Afifuddin Bin Anuar, Muhammad Akmal Bin Ariff, Mohamad Azreel Amrey Bin Zainol, Nuraini Izzati Binti Rosli, Nurul Nabilah Binti Nazer, Siti Aisyah Batrisyia Binti Shamsul Affandi, Mior Muhammad Firdaus, Ahmad Hasif Izzudeen Bin Ahmad Tazudin, Zakirah Binti Zaludin Nureen Faqihah Binti Zumardi, Allya Shahira Binti Ahmad Zaini and Nur Dina Binti Mohd Fadil for the relentless effort in researching and building the robots. Without such dedicated students, completing the robots would be just a dream. Thank you Dr Sukhairi Sudin, Dr Muhammad Juhairi Aziz Safar, Associate Professor Dr. Haziah Abdul Hamid, Dr Abdul Halim Ismail, Dr. Mohd Nasir Ayob for the support given to the team. Thank you also Dr. Syahir and Dr. Khairul. References [1] Francisco Rubio, Francisco Valero, Carlos Llopis-Albert. A review of mobile robots: Concepts, methods, theoretical framework, and applications. International Journal of Advanced Robotic Systems, April 2019. [2] Nidec Motor Corporation. https://www.roboteq.com/applications/all-blogs/5-driving- mecanum-wheels-omnidirectional-robots [3] Storm Castle Catapults. How to Build a Catapult. Kalif Publishing, 2001-2019. http:// www.stormthecastle.com/catapult/how-to-build-a-catapult 17

APU TIGERS APU TIGERS FROM ASIA PASIFIC UNIVERSITY OF TECHNOLOGY AND INNOVATION Arun Seeralan Balakrishnan, Jamila Njeri Mathu, Muhammad Ahmed, Mubarak MohamedSaeed Mubarak, MohamedSaeed, Rabah Anakkachery, Zifaan Abdulla, Zeiad Ahmed Taha, Zayan Rameez. Asia Pacific University, Jalan Teknologi 5, Taman Teknologi Malaysia, 57000 Kuala Lumpur, Wilayah Persekutuan Kuala Lumpur ABSTRACT The robots for this competition were designed using pneumatics as a basis. The PR was designed on a hexagonal base, so that the movement is possible in all directions effortlessly. The TR was designed to only move in 2 directions as it does not require much locomotion. PR has pneumatics powering to throw the ball. Spring and a motor power for the kicking of the ball. The TR uses a net for catching the ball thrown by the PR. TR uses servo instead of the pneumatics. As for the communication between robots a wireless remote was used. Both robots were programmed using Arduino and each robot houses 4 motors for movement. A special feature of the PR is that it is fully designed in steel to accommodate the forces created by the throwing and passing systems. 18

1.0 INTRODUCTION The main purpose of this technical report is to explain in detail the process of development of two robots. The main objective was to compete in a competition where the two robots would have to play a modified version of Rugby while ensuring all the pre-set rules and regulations were observed. One robot is referred to as the Passing Robot (PR) and the other, the Try Robot (TR). APU TIGERS Figure 1: Passing Robot and Try Robot The PR picks up the rugby ball from a designated place (TRY BALL RACK) and passes the ball to the TR. The TR then catches the ball and manoeuvres along a short obstacle course. The obstacle course consists of 5 main obstacles that are placed in the field. After completing the obstacle course, TR will then have to place the ball in a designated area (TRY SPOTS). Finally, both robots were required to kick the ball up past a conversion post. Points would only be allocated according to every completed task with different points for each task. The main strategy that our team employed was to build the Passing Robot (PR) for passing and kicking the ball and TR for catching and placing the ball. Both robots are controlled by transmitter controllers. Each controller controls the movement of the robot. Each robot had three categories that had to be tackled; the mechanical, electrical and programming systems. Throughout the designing process of the PR robot, the main obstacle that the team encountered was trying to reach the maximum distance that was required for the ball to be kicked by the Passing Robot. 19

APU TIGERS 2.0 DETAILED DESIGN 2.1 Pass Robot (PR) Figure 2: PR robot wiring diagram The Pass Robot octagonal base is mounted with 4 Motors connected to 4 wheels for its four sideways movement and rotation. Motor 1 and Motor 2 is connected on shield 1 and motor 3 and motor 4 are connected to shield 2. Both shields act as a driver for wheel coordination. Passing arm for our robot is connected to a pneumatic cylinder with a 10-liter air cylinder. Kicking part of the robot is connected to a high RPM motor controlled by a shield. All the devices are programmed and coordinated by Arduino MEGA and Controlled by a Wireless 2.4 GHz RC transmitter and receiver remote controller. Try Robot (TR) The Try Robot has two functions which is to catch the ball and place the ball in the field. Therefore, the robot base is designed in a minimalistic way. Two shields are used for controlling the motors. A servo attached to an arm is used to place the ball after the robot catches the ball. The robot is also controlled using a remote wirelessly. 20

Figure 3: TR robot wiring diagram 3.0 SIMULATION DATA We have plotted the rugby ball on a graph using MATLAB to study its dimen- sions and do some theoretical calculation for an effective projectile motion which can be accomplished by the robot. Plotting of the ball shape APU TIGERS close all x = (22*3/2/2+22/2)*2; % x-axis is collinear to the max length of rugby DIA = 170; % Diameter of rugby at the center (y-axis) LENGTH = 255; %length of rugby (x-axis) y = sqrt(abs(x^2/(LENGTH/2)^2-1)*(DIA/2)^2)*2; disp(\"Diameter of rugby at \" + num2str(x) + \" mm x-axis from the center: \") disp(num2str(y) + \"mm\") %Plot rugby shape x1 = -LENGTH/2:0.1:LENGTH/2; y1 = sqrt(abs((1-x1.^2/(LENGTH/2)^2).*(DIA/2)^2)); hold on plot(x1,y1) plot(x1,-y1) xlim([-LENGTH/2-10 LENGTH/2+10]) ylim([-LENGTH/2-10 LENGTH/2+10]) 21

Figure 4: Ball simulation result Calculating the projectile motion of the ball global t global yo global G APU TIGERS %~~~~~~~~~User control values~~~~~~~~~ u = 10:0.05:15; %initial speed range thetha = 35:0.5:50; %kicking angle range t = 0:0.01:5; %sampling time yo = 0.178; %y displacement offset (from ground) %~~~~~~~~~User control values~~~~~~~~~ %~~~~~~~~~~~~Pole settings~~~~~~~~~~~~ POLE_X = 9.54951; POLE_Y_MIN = 1.5; POLE_Y_MAX = 3; global POLE_Y_MID POLE_Y_MID = 2.25; POLE_Y_OFFSET = 0.05; %~~~~~~~~~~~~Pole settings~~~~~~~~~~~~ G = -9.81; %gravitational acceleration u_min = 0; thetha_min = 0; x_min = 0; y_min = 0; dist_min = 50; 22

%Find the best path (minimum distance) for all possible combinations APU TIGERS %of velocity and angle. for a = 1:length(u) for b = 1:length(thetha) [ux1, uy1] = getVelocity(u(a), thetha(b)); [x1, y1] = getPoints(ux1, uy1); [~,i] = min(abs(x1 - POLE_X)); if(y1(i)<POLE_Y_MID+POLE_Y_OFFSET && y1(i)>POLE_Y_MID- POLE_Y_OFFSET) %get index for x and y value when ball reach the ground [~,j] = min(abs(y1(10:end))); %ignore 1st 10 values j=j+9; x1 = x1(1:j); y1 = y1(1:j); dist = getDistance(x1, y1); if(dist < dist_min) u_min = u(a); thetha_min = thetha(b); x_min = x1; y_min = y1; dist_min = dist; end end end end % Display the results disp(\"Minimum distance(m): \" + dist_min) disp(\"Angle(deg): \" + thetha_min) disp(\"Velocity, u(m/s): \" + u_min) %Plot the ball projectile and poles hold on xlabel('x(m)') ylabel('y(m)') plot(x_min,y_min) %ball projectile stem(POLE_X, POLE_Y_MIN, 'X K') %pole lower limit plot(POLE_X, POLE_Y_MAX, 'X K') %pole upper limit hold off 23

APU TIGERS %get index for x and y value when ball reach the pole [~,j] = min(abs(x_min - POLE_X)); t = t(1:length(x_min)); disp(\"Pole time: \" + num2str(t(j)) + \"s\") disp(\"Ground time: \" + num2str(t(end)) + \"s\") function distance = getDistance(x, y) x1 = x(1); y1 = y(1); distance = 0; a = length(x); for i = 2:a distance = distance + sqrt( (x1-x(i))^2 + (y1-y(i))^2 ); x1 = x(i); y1 = y(i); end end function [ux, uy] = getVelocity(u, thetha) ux = u*cosd(thetha); %initial speed for x-axis uy = u*sind(thetha); %initial speed for y-axis end function [x, y] = getPoints(ux, uy) global yo global t global G x = ux.*t; %x points at the instance of time y = yo + uy.*t + 1/2.*G.*t.^2; %y points at the instance of time end 24

Code Results APU TIGERS Diameter of rugby at 55 mm x-axis from the center: 153.3696mm >> ball_projectile Minimum distance(m): 14.1218 Angle(deg): 44 Velocity, u(m/s): 10.95 Pole time: 1.21s Ground time: 1.57s Figure 5: Projectile simulation graph 4.0 DISCUSSION/EVALUATION OF FINDINGS The main evaluation in both PR and TR that both of had achieved their main aim successfully as PR is able to pass the ball to TR because of its passing arm that is attached on the top of the PR robot. The main working principle of it is a pneumatic system, besides the passing arm the kicking arm is attached in order to kick the ball high up through the conversion post and its main working principle is the RPM motor that is connected to the arm by gears. The most unique aspect in our design of the robot is that it is firm as it is mainly built using steel. Which gives the robot more durability and stability. As well as rigidity especially in the passing and kicking process of the ball in order to make sure that the ball will reach to the desired location without any deflection. 25

APU TIGERS The movement of each robot is controlled by a RC transmitter, as mentioned in the detailed design section each robot has four motors that connects to two motor shield and the motor shield is connected with a receiver to the Arduino board, so the receiver is responsible for getting the signal from the RC transmitter to send to the Arduino board to control the motors shield. Another unique thing about both the robots are their movement based on the wheel placement and resulting movement. The type of the wheels that had been used is omni wheels, that gives our robot the ability to move forward, backward, left, right and turns in both anticlockwise & clockwise directions, which gives the operator maximum mobility control of the robot by using the RC transmitter and that will help in both passing and kicking process. 5.0 SUSTAINABLE ENGINEERING PRACTICES The 3R’s of the environment, (reduce, reuse, recycle) were major considerations when designing and choosing components for both the robots. As a group, it was paramount to reuse materials that were readily available in the labs (where possible) and reduce the amount of waste that the robots produced in hopes of making the project as green as possible. To begin with, the use of pneumatic systems for both the throwing and gripping mechanisms of the robot was a sustainable engineering practice as pneumatic systems use compressed air which is considered green energy. Also, no harmful gases are emitted from the systems hence no air and GHG (greenhouse gas) pollution. In addition, soda bottles, or more specifically, Pepsi bottles were reused and repurposed to store the compressed air that the pneumatic systems used for functioning. This can easily be considered sustainable as no new waste was created but instead, bottles that were once considered waste were able to find a new purpose. Springs and rubber bands were used in the kicking and throwing mechanisms of the robots. Natural rubber takes roughly 15-20 years to biodegrade and almost all rubber bands are made of natural rubber. Synthetic rubber, made from oil, takes several times the amount it takes natural rubber to decompose [1]. Natural rubber is made from latex which is produced by trees. These trees were neither cut down nor exposed to any harm due to its harvest and continue growing. Therefore, natural rubber is a renewable source of energy and is considered not to be as damaging to the environment as most products. In addition, the use of springs and rubber bands does not emit any harmful gases to the environment. 26

Rechargeable batteries were used to power both robots. They are APU TIGERS considered more environmentally friendly than single use batteries [2]. Not only can they be used repeatedly but they generate less waste over the long-term. In addition, the rechargeable batteries saved us some money in the long run as the robots would probably have used several single use batteries over a short period of time. Therefore, the selection of rechargeable batteries can be considered economically sustainable. The metal used to make the base frame for the robots were repurposed and hence environmentally sustainable as less new metals were purchased and in turn less metal became waste. 6.0 CONCLUSIONS, LIMITATIONS AND RECOMMENDATIONS The robots are able to undergo the competition criteria given the limitations and such, were tested in a mock-up field. Unlike the initial plan, these robots were not used in head to head competition and hence, its true capabilities were not properly tested. However, they do have some limitations that we have noticed. One such being that it is not that light. The weight results in more load on the motors and does relate to the other issues faced. Another issue is that the components vibrate. We also had difficulties with wiring as some did get loose often. We even had noise interference that did cause unwanted movement of the robots. These issues did very much relate to the fact that we were not able to achieve desired speeds. For recommendations to fix these mentioned issues include, use of aluminium instead of steel to decrease the weight. To reduce vibration, use of dampers and for the noise interference a wired controller can be used. Acknowledgments We would like to thank Dr. Arun Seeralan for this opportunity as well as all the expert advice and encouragement throughout this project, as well as Muhamad Nazri Bin Abdul Hadi, Rasdi Bin Razalie and Suresh Gobee for their brilliance in the lab. We would also like to mention that this project would have been impossible without the support of the Asia Pacific University management. 27

APU TIGERS References 1. Dilts, K. (2014). Rubber bands and Their Environmental Impact. [online] prezi.com. Available at:https://prezi.com/b-d7ot6a-ez0/rubber-bands-and-their-environmental- impact/#:~:text=Rubber%20bands%20are%20not%20as [Accessed 16 Oct. 2020] 2. Penny Electric - Las Vegas Electrician & Electrical Services. (2017). Pros & Cons of Rechargeable Batteries - Penny Electric - Las Vegas. [online] Available at: https:// pennyelectric.com/blog/pros-cons-rechargeable-batteries [Accessed 16 Oct. 2020]. 28

29 APU TIGERS

THUNDERBOLT THUNDERBOLT FROM UNIVERSITY TENAGA NASIONAL Hassan Mohamed, Mohd Zafri Baharuddin, Afifah Farhanah Fakhrurrazi, Rhenukanthan.V, Syahmi Shahabudin, Muhamad Amirul Aiman Yahya, Ahmad Hizami A. Ghani, Muhammad Amirnur Hadi Ahmad Kamal Department of Electrical & Electronics, College of Engineering, Universiti Tenaga Nasional (UNITEN), Kajang, Selangor. ABSTRACT Studies, design, simulation and physical tests have been conducted by members of UNITEN’s Team Thunderbolt to fulfil the requirements needed for ROBOCON Malaysia 2020. The theme for this year's ROBOCON competition is to play a version of rugby using two robots, with five obstacles acting as five defending players. The robots are required to pass, receive, try (place rugby balls at required spots) and kick rugby balls to score points accordingly. The receive and try tasks must be accomplished by one robot called the Try Robot. The passing task, and thus mechanism, must be on another robot called the Pass Robot. The kicking mechanism can be placed on either, or both the robots, however only one kicking mechanism can be used at a time. UNITEN Team Thunderbolt has accomplished these tasks with two robots using a combination of electrical and pneumatic actuators. Robots presented here are semi-automatic with a human pilot controlling certain functions. 30

1.0 INTRODUCTION THUNDERBOLT ROBOCON 2020 introduces a new set of problems for us engineers to overcome. Specifically, this time ROBOCON stresses on the importance of speed, accuracy and pow- er in a compact robot. For this challenge, UNITEN’s Team Thunderbolt holds strong facing the failures and successes in experimenting different designs until we achieve our goals. We say with pride “Menggempur Halangan, Menjulang Kejayaan”. There are two robots known as the Pass Robot (PR) and the Try Robot (TR). The robots are controlled by a pilot using a PlayStation® DualShock® 4 wireless controller. Sig- nals from the controllers are programmed for specific functions on each robot. The power source of the robots mainly came from a single 6S 22.2V 6Ah 25C Li-Po Battery. A pres- sure tank consisting of eight 1.5 L bottles is also used, storing a maximum pressure of 600 kPa. 2.0 DETAILED DESIGN 2.1 MECHANICAL DESIGN 2.1.1 PASS ROBOT (PR) Our design process started in software. Figures 1 and 2 show 3D renders of the PR. Figure 3 shows the final fabricated prototype ready for competition. (a) (b) (c) (d) Figure 1: 3D View of Pass Robot 31

(a) (b) Figure 2: Pass Robot in Top View (a), Top Left-side view (b), Right-side View Figure 3: Design of Kicking Mechanism Figure 4: Design of Throwing Mechanism THUNDERBOLT Figure 3 shows the two protruding shafts that acts as tensioners for the chain. The freewheel at the shaft of the kicking mechanism allows fast movement in the direction of kicking the ball without having to move the motor with it. The second freewheel near the middle of the kicking mechanism only allows movement in one direction. This prevents the springs from overcoming the motor’s torque when it is off and, making sure that the ‘leg’ does not move in the opposite direction. Figure 4 shows the bar perpendicular to the claw helps in lowering the torque need- ed to push the ‘arm’ during the ‘passing’ process. The height of which the pneumatic piston is connected to the perpendicular bar adjusts the final angle of the ‘arm’ when fully extend- ed. 32

2.1.2 TRY ROBOT (TR) The following design shows the Try Robot. As before, 3D Renders of the Try Robot was created first in the design process. Figure 5: Isometric View of TR Figure 6: View during Try Figure 6 shows how the ‘Try’ mechanism is positioned during the ‘Try’ process. The secondary board (yellow) allows the try mechanism to keep in contact with the ball during the full of the ‘Try’ process since the servos only allow a maximum range of movement of 180° which therefore limits the movement of the ‘Try’ mechanism. (a) (b) (c) THUNDERBOLT 2.2 ELECTRONIC DESIGN 2.2.1 COMMUNICATIONS Data communication for the robots was enabled by PlayStation® DualShock® 4 controllers. We opted for this type of controller as it has multiple inputs such as dual analog joystick for the robot movements, and digital buttons for the robot's action such as passing 33

the ball and going for a try. However, due to the limitation of Bluetooth® radio communication inside the controller, our robot suffers from signal loss and frequent disconnection. To combat that problem, a wired solution is used to replace the Bluetooth® communication. Even though, connectivity problem has been solved, the user of the robot had another problem which is mobility. A person cannot move fast enough to cope with the speed of the robot. Our last choice was to go back with a fully wireless setup. For the final revision, the Pass Robot uses a HC-12 module to send data back and forth to the robot, as shown in Figure 3. Table 1: Configuration of the HC-12 Transceiver Module Settings Transmitter Receiver Baud Rate 9600bps 9600bps Channel C001 Transmitting Power +20dBm C001 Receiving Sensitivity -112dBm +20dBm Working Mode FU3 -112dBm FU3 For the Try Robot, the communication goes through a FlySky FS-i6 RC 6 channel transmitter and receiver. The PWM data is passed into the Arduino Mega for further processing. THUNDERBOLT 2.2.2 POWER SYSTEM Electrical power delivery for the robots is done by using a single 6S 22.2 V 6 Ah 25 C Li-Po Battery. The amount of energy stored in the battery is ample enough during the 3- minute match. The battery runtime was tested to verify that the capacity of the battery is enough for this match. By using 1 pack of battery instead of two packs of battery that wired in series, would help us to reduce weight and minimize size. Our robot power system requires 24 volts supply for the Vexta Motor, 12 volts for solenoid valve and lights system. 5-volt source for powering the servo motor. For our testing, servo motor RDS3135mg will draw 3.5 A of current with the output of 30kg.cm of torque. Using 3 step-down converters for each servo will enable us to power 3 servo motors simultaneously for the try ball carriage. To prevent overheating of servo due to stall position of the servo arm, a relay is used to cut off the power source for the servo. 34

Table 2: Battery runtime testing Main Parameter Theoretical Runtime Actual Runtime 3 Hours 18 minutes 6S 22.2 V 6 Ah Li-Po 2 Hours 15 minutes 45 minutes 6S 22.2 V 2 Ah Li-Po 35 minutes 2.3 SOFTWARE DESIGN 2.3.1 FLOWCHART THUNDERBOLT Figure 14: Flowchart of Try Robot 35

THUNDERBOLT Figure 8: Flowchart of Pass Robot 3.0 PRESENTATION OF TESTING The initial prototype of the kicking mechanism (Figure 16 & Figure 17) was designed solely to test the strength, elasticity and usability of springs in our design. This design was made to be as sturdy as possible to ensure that the test results will be accurate. The testing was carried out on a table for safety. The kicking mechanism needed to be easily and safely mounted for extensive testing. Furthermore, since the test was to be carried out manually (by hand), it was important to ensure all the parts were easily reachable, in plain sight and avoidable. 36

Figure 9: Final Product of Pass Robot THUNDERBOLT For testing purposes, the shaft was pulled by hand and was released when the ‘leg’ was about 70º with normal and measured the distance travelled by the ball. The throwing mechanism was set up as in Figure 9 with a valve in between the compressor and pneumatic piston. In order to create a mount, a prototype of the PR base was required. The compressor was connected to a manual valve, which was then connected to the pneumatic piston. The distance travelled by the ball was measured for incrementing air pressure in the tank, from 300 kPa to 600 kPa. 4.0 DISCUSSIONS A few problems were encountered during testing, the most prominent of them is that the materials used for the prototypes were not sturdy enough. The bending and tearing of the aluminium was obvious on both the kicking and throwing mechanisms and had to be mended after every test. From this, we concluded that a scaled down version with stronger materials (steel) was viable and necessary for the final product. 1-inch hollow steel bars were used for the final product. ½ inch hollow steel bars were considered as they offered a feasible amount of strength while also making a major difference in weight, but was decided against as we only had a stick welder available and needed a MIG welder to weld those thinner parts better. Ultimately, our design goal was to be as simplistic as possible while maintaining good usability, hence the minimalistic design. 37

5.0 SUSTAINABLE ENGINEERING PRACTICES An important feature that we have considered and implemented in our design process is the sustainability and reusability of our robots. Not much had to be considered for the Try Robot as its main base was already a reused and refurbished version of an older robot, the reason being the flat, simplistic and even shape of the base. This design inspired the design of the Pass Robot, which shares the same overall feature, although with different materials. As the mechanisms of both robots were bolted in, it’s modular and therefore can be used for future design, meaning we can save materials while making sure the end product is satisfactory. Base design of Try Robot and Pass Robot in Figure 10 and Figure 11 respectively. Figure 10: Design of Try Robot Base Figure 11: Design of Pass Robot Base THUNDERBOLT 6.0 CONCLUSIONS, LIMITATION AND RECOMMENDATIONS Each mechanism required special attention to ensure a properly working design. The hardest part was to design both the kicking mechanism and throwing mechanism into the Passing Robot. Among the faced limitations are the amount of space that the robot would occupy. The design was made to be as compact as possible while maintaining all of its functions. Another limitation is the strength versus weight of material used. Design for an aluminium frame was ditched in favour of steel as the aluminium was far too weak to counteract the strain from both the kicking and throwing mechanism as tearing and bending was noticeable during testing. As a whole, designing these robots required a lot of learning and hard work which we believe are very beneficial for an individual to expand their own creative thinking and which may be able to help produce future projects. 38

Acknowledgments THUNDERBOLT The Thunderbolt Team would like to thank Yayasan Canselor Uniten (YCU) as Platinum Sponsors, Pioneer Engineering Sdn Bhd as Gold Sponsors, the Universiti Tenaga Nasional and College of Engineering for their undying support of the Uniten Robotics Team. Thank you also to the CAMARO Research Group especially the team advisors, Dr Hassan Mohamed and Dr Zafri Baharuddin, for all the technical knowledge and advice. Last but not least, special thanks for the continuous efforts of supporters, current members and seniors of the Mobile Robotics Club (MRC). References [1] ABU ROBOCON 2020 [Online] Available at: https://roboconmalaysia.com/abu-robocon- rules/ [Accessed April 2020]. 39

UMS UMS FROM UNIVERSITI MALAYSIA SABAH Stanley Ka Gong Sheng, Tiong Lin Rui, Rahmat Hidayat Arifai, Alfred Liong Faculty of Engineering, Universiti Malaysia Sabah, Jalan UMS, 88400 Kota Kinabalu, Sabah ABSTRACT This technical report has been prepared by Universiti Malaysia Sabah (UMS) ROBOCON Team for ROBOCON Malaysia 2020. The theme of ROBOCON this year consists of two tasks which are to pass the rugby ball from one robot to another and placing it at respective location while another task is to kick the rugby ball from rugby tee by the robot. Design of Pass Robot (PR) is designed to use pneumatic cylinders to grip and pass the rugby ball while the kicking mechanism uses potential energy stored in spring to generate momentum to kick the ball with the aid of a motor. On the other hand, Try Robot (TR) has a much simpler task and thus, TR is designed by mounting a badminton net on top of the robot to absorb the impact when the ball is landing onto it. Moreover, a box and flexible stop is designed to place the ball after it receives the ball. After testing, the robots are able to complete all tasks. Due to COVID-19 pandemic, further fine tuning was halted as students cannot return to the laboratory and thus, the best performance of robots is yet to be determined. Nonetheless, the design of robots has been unique to us as we try to improve from the aspect of material acquisition. Multiple materials were used in robot fabrication such as mild steel, aluminium, and PLA. To comply with sustainable engineering practice, all electronics used in the robots are reused from previous robots and certain structures are fabricated using used material. The engineering practice in this robot can contribute to the usage of automated mobile robots in the industry. 40

1.0 INTRODUCTION UMS As each year ROBOCON has unparalleled technical challenge and difficulty, the theme of ROBOCON this year is not an exception too. The theme requires two robots to complete a number of tasks by passing the rugby ball, placing the rugby ball, and finally kicking the rugby ball. To complete several tasks aforementioned, a brainstorming session was organized in September 2020 to decide optimal design which can be fabricated with the resources (material and money) available in the lab. The design phase had been challenging as many ideas were suggested but there was limited time to try each idea out. For example, to implement a passing mechanism, one of the ideas was similar to ROBOCON 2017 which is using two spinning plates at two sides to spin the rugby ball out at a certain angle. However, after discussion with the programming department, usage of pneumatic cylinders was finalised due to its simpler execution on coding. The motivation to participate in this competition is to improve the engineering knowledge and practice among lab members. Moreover, this competition can also promote team spirit among lab members to work together as a team. The design of two robots consists of its own pros and cons. The robots after fabrication are able to complete all the tasks but weaknesses are easily shown during testing. One of the weaknesses is that the robot is not robust and solid enough to complete the tasks in a shorter time. This is due to the fact that the material used is quite heavy such as mild steel for the base. Moreover, the motion planning of the two robots are not delicate enough especially on turning corners or forced to stop immediately. The objectives of this project are listed as below: a. To design and develop two robots to compete in ROBOCON 2020 b. To optimize the performance of robots after fabrication 2.0 DETAILED DESIGN This chapter consists of three segments which provides much more details on design on the aspect of mechanical, electronics, and programming. 41

UMS 2.1 MECHANICAL DESIGN Pass Robot (PR) Design of PR is separated into a few stages. Firstly, we considered movement of robot and path planning with few considerations such as omni-wheel, mecanum wheel or active caster system. Omni-wheel is chosen due to the arrangement of obstacles in a zigzag manner at the Kicking Zone. According to [1], omnidirectional vehicles that can move in the crosswise or diagonal directions directly are required. [2] stated that omnidirectional robots provided greater manoeuvrability and efficiency at the expense of extra complexity It is easier for the programmer to tune the robot if the robot has slightly deviated from the desirable path. There are four omni-wheels that are mounted with DC motors respectively. Figure 1: Pass Robot We decided to use twin passing mechanisms which were both placed side by side at one side of the robot. The aim is to use all the passing balls in a match. We are using two pneumatic cylinders for a set of passing mechanism to yield a more stable motion when it is launching the pass ball and one small pneumatic cylinder for the gripper of the pass ball. We also decided to do a kicking mechanism at PR instead of TR. The kicking mechanism consists of a spring with a motor to create an impact onto the ball. The function of the springs is to store and release the potential energy to kick the ball while the motor is connected to pull up the spring. The motor is chosen because it has high torque to pull up the springs. 42

Try Robot (TR) UMS Figure 2: Try Robot Similar to PR, omni wheel is chosen because of the tuning if the planned path deviates from the desirable path. We design an efficient placing mechanism for this robot where we build a box for the ball and the box being connected to a motor. When placing the ball, the rod can be rotated using a motor to rotate the box. On top of the robot, to absorb the impact of the rugby ball, a badminton net is used to catch the ball from the PR. In order to make sure the pass ball really gets into the box, a flexible stop is mounted at the front of PR. Without the flexible stop, the pass ball will often slip out from the net when it hits any other structure of the robot. 2.2 ELECTRONIC DESIGN Arduino Mega was chosen as the microcontroller (MCU) in this competition. The reason behind choosing this MCU is that it provides a lot of PWM pins and Digital pins [3]. Other than that, with the help of Arduino IDE, the programmer is able to program the PR and TR easily. In this competition, five motors were used for both robots in the competition with four motors used to control the movement of the robot and 1 motor was used for a specific mechanism built for completing the task. For the kick bot, one motor was used for completing the kicking task while for the Try Robot one motor was used to complete the task which requires the robot to place the rugby ball into the rack. 43

Table 1: Electronics of Pass Robot (PR) No Electronic devices Quantity Uses . 1 • Executes operations which are 5 motor 1 Arduino MEGA and 2 pneumatics 2 Motor driver 5 • 4 of the motor drivers is used to control the direction and speed of the Kick Bot 3 Relay module 1 • 1 of the motor drivers is used to control 4 Power Distribution 1 the kicking mechanism Board • Control the circuit for pneumatic • Used to distribute the power to different motor and component Table 2: Electronics of Try Robot (TR) No Electronic devices Quantity Uses . 1 • Executes operations which are 5 motor 1 Arduino MEGA 2 Motor driver 5 and 4 limit switches • 4 of the motor drivers is used to control the direction and speed of the Receive Bot 3 Power Distribution 1 • 1 of the motor drivers is used to control Board the mechanism of putting the rugby ball into the rack. • Used to distribute the power to different motor and component For PR, the other electronics used are relays and power distribution board. The purpose of using the relay is to control the “ON” and “OFF” of the pneumatic cylinder which were used to complete the task of passing the ball to the try bot. Other than that, the power distribution boards were used to distribute the power from batteries to other electronics components such as Motors, Arduino MEGA and pneumatic cylinders. The other electronics which operate at 5 V will be powered through the 5 V power supply supplied by the Arduino MEGA. Limit switches were installed on the side of the TR to detect the contact between the robot and the sidewall of the game field. This will ease the programmer and UMS the operator in controlling the movement. Below are some of our electronics used on both robots. 44