ROBOCON 2020 Robot Design Handbook

Figure 10: Graph of force against pressure applied in pneumatic system REC Figure 10 shows the linear relationship between pressure applied and force produced by the pneumatic system. The applied pressure is around 6 bar, to ensure maximum force is being generated to pass Try Ball to TR. The 45° launch angle is the most optimum for achieving maximum horizontal range [5]. However, TR has a height clearance greater than the level where Try Ball is being launched. Hence, more vertical velocity is acquired to achieve the clearance height for TR. This is achieved by setting the launch angle around 50°. 4.0 DISCUSSIONS A pneumatics system is implemented on the Pass mechanism due to its simplicity in workings and does not require the large amount of space like the gear-motor system for kicking mechanism. However, sonic flow occurs when compressed air enters the pneumatic cylinder due to significant difference between the upstream and downstream pressure [6]. This phenomenon leads to choked flow where the fluid velocity has reached its maximum. The fluid velocity will not increase with any further decrease in the downstream pressure. The upstream pressure (from the compressed air tanks) becomes a bottleneck. The power generated by the pneumatic cylinder can be seen in Eq. (2), where F is Force applied by pneumatic cylinder and v, fluid velocity of the pneumatic system. Based on this formula, we can see that the power generated by the pneumatic system is restricted by the fluid velocity, which in turn, depends how much pressure can the compressed air tank hold. (2) 245

REC 5.0 SUSTAINABLE ENGINEERING PRACTICES Sustainability is where one has to come up with designs that not only meet objectives but also considers use of resources without compromising the environment. The team has implemented things such as reusing old parts from previous competitions for prototyping. Building materials such as aluminium profiles can be reused without any extra processing, hence, saving resources. The robots are made from materials which can be reused or recycled in the future. 6.0 CONCLUSION Throughout the design process there were limitations within the robots. Sonic flow restricts the maximum velocity that could be delivered to the Try Ball while being launched by the pneumatics system. The kicking force is being limited to maintain the structural integrity of the robot. The weight in the kicking system shifts the centre of gravity of the robot and affects locomotion. Both robots are manually operated, which is prone to human error when carrying out precision-level tasks. Sonic flow issues could be solved by increasing pressure of compressed air tanks, which leads to higher fluid velocity and shorter reaction time for pass mechanism. The base design of the robot’s structure should take into consideration the weight of the kicking mechanism. Reinforcing the current structure could be a potential solution. Adding sensors to have corrective feedback would reduce human errors. Approaching the competition objective with simpler designs to ease troubleshooting. To conclude, PR is a robot made for passing and kicking. TR is made for catching and carrying out a Try. Robot development poses a great challenge, and it is important to keep on experimenting and testing to further improve the robot’s design. Another key takeaway would be thinking out of the box when innovating designs to meet competition objectives. 246

Acknowledgement REC The team would like to thank the Faculty of Engineering, University of Malaya for giving support in terms of facilities to prepare for this competition. We would like to express our gratitude to our team advisor, Prof. Dr. Mahmoud Moghavvemi for giving technical support on his technical expertise. Thank you to all the alumnus and sponsors that supported us throughout the preparation period. References 1. A. Ramirez-Serrano and R. Kuzyk, \"Modified mecanum Wheels for Traversing Rough Terrains,\" 2010 Sixth International Conference on Autonomic and Autonomous Systems, Cancun, 2010, pp. 97-103, doi: 10.1109/ICAS.2010.35. 2. Dr Rainer Hessmer, “IBT-2 H-Bridge with Arduino”, from http://www.hessmer.org/ blog/2013/12/28/ibt-2-h-bridge-with-arduino/ 3. Component101, “L298N Motor Driver Module”, from https://components101.com/ modules/l293n-motor-driver-module 4. STMicroelectronics, “Dual Full-Bridge Driver”, from https://www.sparkfun.com/ datasheets/Robotics/L298_H_Bridge.pdf 5. Cross, R. (2011, June). BALL TRAJECTORIES. Retrieved October 11, 2020, from http://www.physics.usyd.edu.au/~cross/TRAJECTORIES/Trajectories.htmlThe 6. Flow of fluids through valves, fittings, and pipe. (1980). Montreal: Crane Canada. 247

PSA PSA FROM POLITEKNIK SULTAN SALAHUDDIN ABDUL AZIZ SHAH Muhammad Firdaus Mokhtar, Mahmud Selamat. Rokiah Hassan, Muhammad Isyraf Mohd Fauzi , Muhammad Qayyum Noor Azam , Amsal Husaini Roshidi , Muhammad Ikhaml Muqri Mohd Roslan , Muhammad Danish Azreen Mohd Adenan , Muhammad Shameer Haiqal Khalid , Muhamad Zulhilmi Abd Hafaz , Muhammad Azim Azli , Asraf Faizol Kamaluddin Department Of Electrical Engineering, Politeknik Sultan Salahuddin Abdul Aziz Shah, Persiaran Usahawan, Seksyen U1, 40150 Shah Alam, Selangor. ABSTRACT ROBOCON Malaysia Competition is an occasion composed by Jabatan Pendidikan Tinggi, Kementerian Pendidikan Malaysia in order to boost the knowledge and skills required for the undergraduates to be successful in life. ROBOCON Malaysia 2020 requires a team to build two kind of robots which are the Pass Robot (PR) and the Try Robot (TR). The function of PR is to take the rugby ball on the stage and pass the ball to TR. TR needs to put the ball to Try Spot. Next, TR needs to kick rugby ball to the Conversion Post. We designed TR with the ability to pass and kick the ball. Each robot includes a particular mechanical plan structures and electrical portion. The length, width and high of two robots are below 100 cm at Starting Zone. The weight of the two robots are less than 50 kg. 248

1.0 INTRODUCTION PSA The ABU Asia-Pacific Robot Challenge is an Asian-Oceanian College robot competition, established in 2002 by Asia-Pacific Broadcasting Union. Within the competition, robots compete within a set period of time. One of the main points of having these challenges is to create friendship among the individuals and to build up their skills, as well as making a difference to the development of the Mechanical Autonomy Culture within the region. The occasion was broadcasted in numerous nations through ABU part broadcasters. Each year, the competition features a different theme challenges, but two or more robots must be utilized in order to complete the assignments. The challenge topic of ROBOCON 2020 is RUGBY ROBOTS with a motto of sharing information. Our mission is to convey and making both robots to be able to perform in the robot rugby competition by utilizing different resources such as pneumatic, engine, and others. A coordinate is between the Ruddy and Blue against each other in order to gather points from a few zones. 2.0 DETAILED DESIGN 2.1 MECHANICAL DESIGN This section is separated by two sections which are distinguish between the PR and the TR technical specification. The detailed designs of PR and TR are provided in the next section. 2.1.1 MECHANICAL DESIGNS OF TR We begin our project with a sketch of the base of the robot with wheel location as shown in Figure 1. The location of the ball holder at the end of the wheel is to make sure that the PR can take all the ball from the Rack Ball. The Kicker location in the middle of the two wheels is to stabilizes the robot after kicking the ball. Figure 2 shows the side view drawing of PR. Figure 3 shows the 3D drawing view of PR and Figure 4 is the 3D view photo of PR with sub unit labels. The length, width and height of the PR robot are below than 100 cm at the start zone. 249

PSA Figure 1: Top view drawing of PR Figure 2: Side view drawing of PR Figure 3: 3D drawing view of PR 250

Figure 4: The 3D view photo of PR with sub unit labels. A shown in Table 1 below are the sub unit of PR and their function. All of this sub unit was developed in order to make sure that PR can fulfil the competition requirements. Table 1: List of sub unit and function of PR No Sub Unit of PR FUNCTION 1 Ball holder To hold the rugby ball 2 Up/down To move the ball holder rod up/down PSA 3 Thrower rod To throw the rugby ball 4 Kicker To kick a rugby ball 5 Omni-wheel To move PR in any direction The competition allows for a completely manual robot. Using four omni-wheels, the robot will have the holonomic movement that permits it to move in any point of direction without requiring it to turn. In other words, the robot can move in numerous directions. The omni-wheels on the robot base are fueled by a four 24 V planetary DC adapted engine. Figure 5 and Table 2 below shows the details of the engine. 251

Figure 5: The four omni-wheels movement direction of PR PSA Item Table 2: The Omni-wheel’s motor specifications Specification Voltage 24 V Shaft length 20.0 MM unidirectional out shaft Shaft diameter 8 mm D-shaped shaft double ball Reduction ratio bearing positioning structure 27 No-load current mA ≦600 Locked torque kg.cm ≥35.0 No-load speed rpm 440 2.1.2 MECHANICAL DESIGN OF PR Figure 6 shows the front view drawing of TR. Figure 7 is the 3D drawing of TR and Figure 8 is the 3D view photo of TR. The length, width and height of TR robot are below 100 cm at the start zone. 252

Figure 6: Front view drawing of TR Figure 7: 3D drawing of TR PSA Figure 8: The 3D view photo of TR with sub unit labels Table 3 as shown below, is the list of sub units and the function of the TR. The main function of the TR is to put the ball into the Try Spot. In this robot, the usage of the omni- wheels was applied to the base of the robot as shown in Figure 9. The same specification of the motors is used in this robot. 253

Table 3: List Sub Unit and Function of TR (Try Robot) No Sub Unit of TR Function 1 Ball net basket To receive the rugby ball from the PR 2 Minima/Maxima basket guide To fill the rugby ball in the basket 3 Ball stopper To hold, release and touch the rugby ball 5 3 units omni-wheel To move TR in any direction PSA Figure 9: The omni-wheel movement direction of TR 2.2 ELECTRONICS DESIGN In electronics design, we used relay and push button switch as the main components to control the actuator such as the dc motor. At first, we plan to use PLC but we were not able to use it due to the limited budget. Relay is a low-cost device as shown in Figure 10. Relay can be energized (ON) by active high or active low. The terminal N/O switch of the relay can carry 10 A with 30 V dc. So, it can load the dc motor as a wheel driver. Figure 10: Relay 254

2.2.1 DESIGN OF THE CONTROL CIRCUIT FOR PR The design of the control circuit for four omni-wheels follows Table 3. For example, for a Right direction push button, Wheel 1 & Wheel 4 should rotate in forward direction and Wheel 2 & Wheel 3 should rotate in reverse direction. The dc motor can control the forward or reverse direction by using two units of relay. The circuits used to control the motor are the control circuit and the main circuit. The control circuit should control the main circuit by using the push button switch and the main circuit should control the load (motor) by using the N/O or N/C terminal of the main relay as shown in Figure 11. We sketch the control and the main circuit using the PLC software and Ladder diagram. Figure 12 and 13 are a part of control and main circuit to drive the four omni-wheels. Table 3. The four omni-wheel rotation and movement direction for the PR No. Wheel 1 Wheel 2 Wheel 3 Wheel 4 Direction 1. Forward Reverse Reverse Forward Right 2. Reverse Forward Forward Reverse Left 3. Forward Forward Forward Forward Forward 4. Reverse Reverse Reverse Reverse Reverse PSA Figure 11: The main circuit to control forward and reverse dc motor 255

PSA Figure 12: A part of the control circuit for the four omni-wheels Figure 13: A part of the main circuit for the four omni-wheel drive 256

2.2.2 DESIGN OF THE CONTROL CIRCUIT FOR TR PSA The design of control circuit for the three omni wheel is shown in Table 4, similar to section 2.2.1. Figure 14 is a part of the control circuit for controlling the TR and Figure 15 is the main circuit to control the TR’s wheels. Table 4. The omni-wheel rotation and the movement direction No Wheel 1 Wheel 2 Wheel3 Direction 1 Reverse Forward Forward Horizontal right 2 Forward Reverse Reverse Horizontal Left 3 - Forward Reverse Reverse 4 - Reverse Forward Forward Figure 14: A part of the control circuit for the TR’s wheel 257

PSA Figure 15: A part of the main circuit for controlling the TR's wheel 258

3.0 PRESENTATION OF TESTING 3.1 TESTING THE PASS ROBOT Table 5 shown below is the data recorded in order to get the suitable input battery voltage for controlling the speed of the thrower motor. Table 5: Testing Result for Throw rugby ball Battery (V) 12 18 24 30 Distance (mm) 1150 2546 4367 5768 inaccurate accurate inaccurate inaccurate Status From the data that has been recorded, the best input for the battery was 18 V. Therefore, we have decided to use the 18 V battery as the input to the thrower motor. Table 6 as shown below was the data recorded to get suitable input battery voltage to control the speed of the kicker motor. The best value of in dc supply for the kicker ball motor is 18 V. Table 6: Testing Result for kick rugby ball Battery (V) 12 18 24 30 PSA Distances (mm) 3115 4135 5110 6853 Status inaccurate accurate inaccurate inaccurate The figure 16 shows that the PR can take the rugby ball from the rack ball and pass the ball to TR as shown in Figure 17. Figure 16: PR takes a rugby ball at the Try Ball Rack 259

PSA Figure 17: PR passes a rugby ball to the TR Figure 18: An image of the TR placing a rugby ball onto the Try Spot Figure 20: An image of the PR kicking a rugby ball to the Conversion Post 260

Figure 18 shows how the TR attempted to place and touch down the ball at the Try Spot. Lastly, in Figure 20 shown above, the TR was supposed to make a kick from the particular zone into the rugby pole. From the figure, we can see that our robot was able to make the movement without any error In conclusion from the data recorded in the table above, it shows that the 18 V was the best value voltage for both of the sub unit robot (Kicker & Thrower) with a distance of 4135 mm and 2546 mm and having the most accurate status compared to the other measurements. The two data shown above was the measurement for every inch of the feedback given by the battery and in the end, we have decided to use the 18 V battery as the source for our robots. 4.0 DISCUSSION /EVALUATION OF FINDING PSA We found our robot quite classic due to the simple usage of basic electronics components which are the relay and the push button. The robots are controlled using panel button box which are directly connected to the robot through a multi flexible wire. We are using control circuit in order to control the dc motor in forward and reverse direction in each sub unit of the robot. As a result, our robots which are PR and TR, have successfully function the way we designed them. The results can be seen through the link provided: a. https://www.youtube.com/watch?v=OxTcCgiuqEk&feature=youtube b. https://youtube/48olXLzyTtY c. https://youtu.be/CVHXzl3BgU0 By using manual control, PR will move from the Start Zone to the Try Ball Rack to pick-up the ball. Next, unit up / down is raised to prevent the ball from getting stuck in the Ball Rack as PR moves to the Passing Zone. After that, PR would then throw the ball to TR which is in the Receiving Zone. A three-wheeled TR moves to place the ball into the Try Spot. The sub Unit Stopper on the TR serves to release the ball to the Try Spot and also to touch the ball that has been on the Try Spot floor. To earn high points, PR has been designed to kick the ball as farthest as it can in the Kick Zone. From the ball kick attempts made, it was found that 60% to 70% of attempts successfully entered the Conversion Post. But we are disappointed because the competition was cancelled due to Covid-19 pandemic. However, our team still manages to get and learn new experience on how to use hands tool and valuable knowledge in order to make the robot. 261

PSA 5.0 SUSTAINABLE ENGINEERING PRACTICES The reason why our robot was unique is because there is no harmful chemical that can cause pollution was applied into the robot. The use of materials in the manufacture of the robots are 80% recycled materials and used components. So that our polytechnic can optimize the return of investment (ROI) by using this component. 6.0 CONCLUSIONS, LIMITATION AND RECOMMENDATION In conclusion, the development of the two robots which are the PR and the TR from scratch makes a difference in strengthening the bond between teammates as it requires sacrifice and the sharing of knowledge and acknowledgments. Our main purpose for the competition was to create a completely manual control robot without utilizing any computer program, we are also planning to use the same purpose to plan and create a mechanical structure of the manual robot for ROBOCON 2020 competition. Communication and teamwork are critical especially in the midst of competition. Applying the concept and materializing the plan from scratch, boosted the confidence of the whole group. 262

Acknowledgements PSA First of all, we are very thankful to God for giving us the blessing in order to complete this study successfully. We thank everybody for providing encouragement, guidance and support from the beginning to the end which enable us to develop an understanding of the project. Our gratitude goes to all who are involved directly or indirectly. With the help of those who provided advice and guidance from the beginning to the end of our study, stimulating suggestion and encouragement have managed to successfully helped us to coordinate our project especially in writing this report. They never get tired to spend their precious time to help us in completing the entrusted research and also never disappoint us when we need their help in terms of advice and guidance. Thank you for being open minded to us. This journey would not have been possible without the support of our family. Thank you for always giving us encouragement, inspiration and support emotionally and financially. We know that you always believe in us and want the best for us. Thank you for teaching us that our task in life is to learn, be happy, to know and understand ourselves. We are also pleased to thank our companion who gave their time, idea for some part of the report and a very strong support that helps us in completing this report. This success would not be possible without their support. Thank you for the constructive and sincere comments that helps us to complete this task. Last but not least, we thank all those who have supported us in any aspect during the completion of this project. References 1. https://en.wikipedia.org/wiki/Relay 2. https://roboconmalaysia.com/ 3. https://my.cytron.io/c-motor-and-motor-driver/c-dc-motor/c-dc-geared-motor 4. https://robot-r-us.com.sg/p/high-performance-double-plastic-omni-wheel-basic- 100mm 5. INNOTVET 2020 (ROBOCON 2020) Politeknik Sultan Salahuddin Abdul Aziz Shah 6. https://youtu.be/48olXLzyTtY 7. Video inovasi pitex 2020, Online 8. https://www.youtube.com/watch?v=OxTcCgiuqEk&feature=youtu.be 9. Video Kicker For Try Robot Option , Online https://youtu.be/CVHXzl3BgU0 10. https://quasarelectronics.co.uk/media/ecom/images/reversible-dc-motor-using-2- relays.gif 263

ROBOTEAM ROBOTEAM FROM INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA Muhammad Syukri Mohd Talib1, Amjad Fakhri Kamarulzaman1, Muhammad Hanafi Azlisham1, Muhammad Luqmanul Hakim Zulkifli1, Muhammad Syahmi Zulkepli1, Fadhluddin Sahlan2, Muhammad Hanif bin Razali, Muhammad Aidil Fahmiey Osman2, Muhammad Danish Shukor1, Muhammad Iqbal Ghazali1, Mohammad Shayril Udin1, Mohammed Khairulamireen Mohammed Noor1, Ahmad Faaiz Azman Shah1, Muhammd Hafiz Samsuri1, Nor Afiqah Noor Azam1, Siti Nurul Huda Abd Rahim1, Farahiyah Jasni1, Khairul Affendy Md Nor1, Ahmad Imran Ibrahim1 1Kulliyyah of Engineering, International Islamic University Malaysia, 53100, Jalan Gombak, Kuala Lumpur. 2Kulliyyah of Information and Communication Technology, International Islamic University Malaysia, 53100, Jalan Gombak, Kuala Lumpur. ABSTRACT This year ROBOCON’s theme was set as Rugby 7s. IIUM Roboteam has successfully developed two robots to fulfil the tasks given for the competition. The Pass Robot is actuated with pneumatic cylinders and a high torque motor is responsible in taking the rugby ball from the rack, passing the ball to the other robot, and making the goal kick. On the other hand, the second robot, namely Try Robot is designed to receive the pass ball and perform the try. One of the unique characteristics of the robot is on the kicking part, in which the robot needs to apply high force to ensure the ball has enough momentum to reach the goal post. For this task, the spring-based mechanism is used to ensure the robot can do its task successfully. This mechanism can also be implemented in designing machines or robots to despatch a fire extinguisher ball from afar since it can give big momentum to ensure the ball reaches the desired area. 264

1.0 INTRODUCTION ROBOTEAM ROBOCON is an annual competition that allows students from all institutions in Malaysia to showcase their talent in developing robots based on the theme of the year. The theme for ROBOCON 2020 is Robo Rugby 7s which was adapted based on the ABU ROBOCON Suva Fiji. The participating teams need to develop two robots to collaborate to score Try and the Goal Kick. IIUM team has successfully developed two robots, namely, the Try Robot and Pass Robot. The Pass Robot’s tasks are to take the try ball from the rack, pass it to the Try Robot, and to kick the ball to the goal post. Whereas the Try Robot is responsible in receiving the try ball and transport the ball to the try spot and do the try attempt. The robots are designed based on the designated tasks that the team believe will give benefit during the competition. Most of the mechanisms in the built robots are actuated using pneumatic cylinders and electric motors. Sensors, such as encoder, compass and limit switches are also instrumented to the robots to enhance the performance of the system. With the COVID -19 pandemic going on all over the world, it took almost a year for the team to complete the development process. One of the main challenges that the team faced was designing the kicking mechanism. It is tricky as it has to make sure the force is strong enough to kick the ball to the goal post, while also taking into consideration the shape and positioning of the ball on the field and the tee. To ensure enough momentum for the robot to kick the ball, we referred to articles in [1-5]. The kicking mechanism utilizes the concept of conversion of potential energy from the spring, which is attached to the kicking rod to kinetic energy. Besides, we also used an angled plate on the rod to ensure the ball will move towards the goal post. In this report, the drawing for mechanical design, circuit diagram and the flowchart for the programming is presented in the next section. The analysis on the kicking mechanism is presented in the following section. 2.0 DETAILED DESIGN Our design comprised of three major parts, namely mechanical component, electrical component, electrical and electronic component, and software design. We split the task to ensure the workflow for robot construction are organize and smooth. 265

2.1 MECHANICAL DESIGNS 2.1.1 PASS ROBOT Mechanism Drawing Explanation of mechanism Picking ball from rack and passing The C-shaped hook is used to pick up the ball Kicking ball Figure 12: Pass Robot from the rack by sliding to the side. Two pneumatics are used to execute this mechanism in which the first pneumatic will increase the height of the C-shaped hook from the ground once it gets the ball to get the right position. The second pneumatic helps to pass the ball to Try Robot When the button is pressed, the motor will rotate the sprocket by using the chain and the springs that are attached to it will start to stretched until it reaches the spring’s threshold, where the spring start to contract and pulling the plate to kick the ball. ROBOTEAM 266

2.1.2 TRY ROBOT Drawing Explanation of Mechanism mechanism Receiving ball The upper part of the Try Robot are Securing the covered with ball chosen material to secure the ball from Try Figure 13: Try Robot bouncing. Once the ball is landed into the Try Robot, the ball is secured in the position until the robot brings the ball to the try spot When the robot reaches in front of the try spot, there is a pneumatic will grip the ball while trying the ball into to the spot by using a motor that is attached with belt 2.2 ELECTRONIC DESIGN ROBOTEAM The electronics design for both robots consist of power circuit, sensors and actuators connections, communication circuit and the controller. The schematic is shown in Figure 14 . 267

ROBOTEAM Figure 14: Schematic of main board design 268

2.3 SOFTWARE DESIGN ROBOTEAM (a) 269

ROBOTEAM (b) Figure 4: (a) and (b) Software design of the Pass Robot The software design consists of getting input from all sensors, processing the input and actuate the output. The robot is semi-auto which can be switched between auto and manual mode. The input that need to be read are command from wireless 2.4GHz PS2 controller, yaw angle of the robot and current coordinate of the robot. PID controller is needed in order to adjust the actuators to produce desired output. The flow chart of the system is shown in Figures 4 (a) and (b). 270

3.0 PRESENTATION OF DATA/SIMULATION/TESTING ROBOTEAM Figure 5: Projectile motion used for calculation Figure 6: Graph from the SOLIDWORK finite element analysis to determine optimum initial velocity to kick a rugby ball Table 3: Experimental result to determine optimum initial velocity by changing initial angle of attack 271

ROBOTEAM Figure 5, Figure 6 and Table 3 shows the data collected from the experiment that we conducted to determine the optimal attack angle and also the initial velocity for the ball to reach the goal post. From Table 3, it can be deduced that the best angle is 60 degrees with initial velocity of 9.5 m/s. Findings from this study has been published in [6]. 4.0 DISCUSSION/EVALUATION OF FINDINGS Our robots are unique as our kicking part uses a simple but very effective mechanism which applies the concept of potential energy of a spring to kick the ball flawlessly. Meanwhile, for our receiving robot, we only use a sheet of net that can receive the ball from any direction efficiently. The robots are handled in semi-automatic which can eliminate the possibility of human error during the competition. It will save our time to finish the designated task and overcome our opponent with speed. 5.0 SUSTAINABLE ENGINEERING PRACTICES Coincide with sustainable development goal introduced by United Nations members in 2015, our robot had been built according to these goals. In terms of responsible consumption, our robots followed the aims which are eco-friendly, reduce waste and boost recycling. For instance, we reused plastic bottles to fill in gas for pneumatic system. Meanwhile, the production cost also is not too high, and it is reasonable and affordable. Besides the robots made are not harmful to the environment and humanity. The energy sources of both robots are lithium polymer batteries which are rechargeable battery. A silicon–graphene additive contains in that batteries helps to preserve the positive terminal during discharging, thus increasing the cell longevity and cycle-life. 6.0 CONCLUSIONS Although this is the second time, we join this competition, the task for ROBOCON this year is quite challenging especially in designing the best mechanism especially for the crucial parts such as passing, receiving, trying, and kicking the ball. However, with the guidance from advisors and helpful teammates, we manage to build both robots successfully. We have learned several lessons from building the robots. We know, for example, how much torque is required for a robot to walk smoothly, what sensors are suitable to be used in the robot and what to improve from time to time. Priority attention and specific technique are needed to realize the expectation that we want. Our goal is to win this year competition so that we will be Malaysia’s representative. It is possible to reach the targets as we already put all our efforts in this project. 272

Acknowledgments ROBOTEAM We would like to express our deepest appreciation to all those who provided us the support to complete this task. A special gratitude goes to our team members for their contribution in stimulating suggestions and helping in designing schematic diagram of circuit and modelling of the robots. Furthermore, we would like to acknowledge with much appreciation, IIUM ROBOCON’s advisors, Dr Ahmad Imran, Dr Farahiyah and Dr Khairul Affendy, who always advise and guide us in build these robots. We also thank the university IIUM and also IIUM Roboteam for giving us the permission to use the required equipment. References 1. Rory C. Flemmer and Claire L. Flemmer, “A Humanoid Robot for Research into Kicking Rugby Balls,” Massey University, New Zealand, 2014. 2. Dan Xiong, Junhao Xiao, Huimin Lu, Zhiwen Zeng, Qinghua Yu, Kaihong Huang, Shuai Cheng, Xiaodong Yi & Zhiqiang zheng, “The Design of an Intelligent Soccer- Playing Robot,” Industrial Robot, vol. 43 (1) pp. 91-102, 2017. 3. Hagen Schempf, Charles Kraeuter, and Mike Blackwell, “Roboleg: A robotic soccer- ball kicking leg,” Carnegie Mellon University, Pittsburgh, United State, 2016. 4. Yanfei Liu and Jiaxin Zhao, “A Kicking Mechanism for an Autonomous Mobile Robot,” Purdue, University, Indiana, United State, 2014. 5. Buick and J. Livesey, “Aerodynamics of rugby ball,” Journal of Applied Mechanics, vol. 79 (2), pp.1020, 2014. 6. Nor Afiqah Noor Azam, Ahmad Imran Ibrahim, Farah Diyana Abdul Rahman,, \"Dynamic Analysis on Rugby Ball Kicking Parameters,\" Solid State Technology, pp. 111-117, 2020. 273

TEAM UTAR KAMPAR FROM UNIVERSITI TUNKU ABDUL RAHMAN KAMPAR Teh Peh Chiong, Lim Jee Hean, Chong Chun Keat , Lee Yoong Jeng, Ng Yi Van, Teoh, Yuann Yun , Teh Wei Hong, Soo Shin Phey , Crement Ong Wen Yao Electronic Engineering Department (EE), Faculty of Engineering and Green Technology (FEGT), University Tunku Abdul Rahman (Kampar campus), Jalan Universiti, Bandar Barat, 31900 Kampar, Negeri Perak. ABSTRACT In this report, we presented the design and development of robots for the competition of ROBOCON Malaysia 2020. The work here consists of two robots, namely the Pass Robot (PR) and Try Robot (TR) with both manual configurations. The robots mainly structured by a hollow aluminium tube. The Pass Robot utilizes pneumatic servo mounted on an octagon base shape with actuated by servo motor with 100 mm omni- wheel. The Pass Robot had add-on relays on it to control and increase the level of moving speed. The Try Robot used net to catch the size 3 rugby ball and actuated by servo motor and 97 mm mecanum wheel for the movement of the robot to make sure they move flexible in all directions. What makes our robots so special is that our robots are both in lightweight with the help of aluminium profiles which are rigid and light. The user-friendly robot is one of the most important elements to consider in a robot so that people do not need to spend much time to learn how to control it. Components used on the robots are mostly easy to TEAM UTAR KAMPAR assemble and recyclable which are good in sustainable practices. The kicker robot is an evolutional transform of the rugby ball kicker in the market. It is fast-moving, controllable, fast response. This concept can be applied to other sports such as tennis. It can simulate a real moving player kicking a ball. 274

1.0 INTRODUCTION TEAM UTAR KAMPAR The advancement of technology is increasing at a fast rate, it can be said that we live in a world driven by technology; many things around us are related to technology. Technology is basically the application of science or invention of tools that make our lives more convenient. One of the leading technologies in the world is robotic technology. This is our team’s first time to participate in ROBOCON competition organized by the National Asian Broadcasting Union (ABU). Unfortunately, due to COVID-19 issues, the competition had to be canceled. Our goal is to finish three successful tries before any goal kick. Then, we will use three kick balls at the same time so that we will not be wasting time to set up the kickball each time after a successful trial. However, if we did any mistake during the receiving of Try Ball or Try, we will use two kick balls after two successful tries instead of three to have enough time to make the goal kick. Besides that, the speed of our Try Robot (TR) is faster than our Pass Robot (PR) because the weight of the TR is lighter than the weight of the PR. In conjunction with that, we came out with a small strategy related to it. Since the speed of the TR is faster, it is more efficient and time-saving for it to travel over a longer distance. Thus, we decided to score try at the first three try spots that are nearer to the PR before proceeding to other try spots to maximize the speed advantages of TR. The time saved might be short and only enough for us to score a few points or even 1 point, but sometimes 1 point can be the key to determine the winner of the contest. Thus, don’t underestimate it. We will try to increase the probability of us winning the contest as high as possible and try our best to win the competition. We get the main idea of robot designs from different countries that have participated in the previous ROBOCON competition which has the same theme and rules as ROBOCON Malaysia 2020. We had done the research and found that most of the teams used net in their TR to catch the ball. Thus, the TR of our team also uses the same concept. For PR, we found that there are generally two methods to pass as well as kick the ball, which is a catapult and pneumatic system. Eventually, we decided to use the pneumatic system in our PR after discussion among the team members. 275

TEAM UTAR KAMPAR 2.0 DETAILED DESIGN 2.1 MECHANICAL DESIGN The main framework of the Pass robot (PR) and Try robot (TR) is made using aluminium profile as it can be cut and put together easily. The material is light weight and can be formed into a very strong structure by L-brackets together with screws and nuts. The upper part of the robot is using hollow aluminium tube which are light weight too. A nylon net is spread on the upper part, providing huge surface area to catch the incoming rugby ball. 2.1.1 PASS ROBOT (PR) AND TRY ROBOT (TR) LOCOMOTION Figure 1: The final design of Pass Robot (PR) 276

Figure 2: The final design of Try Robot (TR) TEAM UTAR KAMPAR 2.1.1 MECHANISM OF PASS ROBOT (PR) AND TRY ROBOT (TR) Figure 3: The passing and kicking is based on the same mechanism of the rugby ball launcher. Basically, there will be two RC wheels spinning at relatively high RPM to provide a driving force to the rugby ball. The surface of the RC wheel is high friction rubber which will provide a better grip to the rugby ball. To provide extra momentum for shooting goal, we are using a pneumatic cylinder. Pressurize air is stored inside the tank array made by multiple 100PLUS bottles, connected to a pneumatic valve and then to the pneumatic cylinder. The pneumatic valve can be programmed when to release the air and when to return the cylinder back to the initial position by the Arduino Mega. When only passing the rugby ball to the TR, the pneumatic cylinder will be on for the short distance passing. When it comes to the goal shooting, the two high RPM brushless motor will be turned on to increase the momentum of the rugby ball for a much higher and for a further goal pass. 277

TEAM UTAR KAMPAR For the robot locomotion, it will be the same as the TR. The only difference is the type of the wheel used, which are the 100 mm omni-wheels. It is larger in diameter and it provides a true omnidirectional motion. This aims to have a more precise positioning during passing and goal shooting. 2.2 ELECTRONIC DESIGN The whole robot is powered by the Arduino Mega which are connected to relays, servo motors and four 100 mm omni-wheel for PR while four 97 mm mecanum wheels for TR. The mecanum set up that we are using is a tank drive set up. This set up allows the robot to move in all direction as shown in Figure 4. The Arduino Mega is connected to a PS2 wireless control to give command on the locomotion of the robot. The motor is connected to four relays to raise the level of current, in order to get more sensitive responses. The ball releasing method for PR uses the pneumatic servo to pass and kick the rugby ball and a servo motor to move a square metal frame to push the rugby ball out from the nylon net for TR. The servo motor is also controlled by the Arduino Mega. Figure 4: The movement mechanism of robots 278

2.2.1 CIRCUIT AND COMPONENTS FOR PASS ROBOT (PR) AND TRY TEAM UTAR KAMPAR ROBOT (TR) Circuit Diagram for Pass Robot (PR) and Try Robot (TR) Figure 5: Circuit Connection of Pass Robot (PR) 279

TEAM UTAR KAMPAR Figure 6: Circuit Connection of Try Robot (TR) Arduino Microcontroller and Power Source Figure 7: ARDUINO_MEGA2560_V3 and NiMH battery 280

Arduino Mega is a micro controller that uses ATmega2560 microchip. It has 54 TEAM UTAR KAMPAR digital input/output pin in which 14 pins can be used as digital (PWM) outputs, 16 pins for analog inputs and four pins for UARTs (hardware serial ports) with a 16 MHz crystal oscillator, USB connection capability, an ICSP header, and a reset button. The capability of the Arduino Mega is considered sufficient in both manual and auto robots. Thus, it will ease the implementation phase. Both robots use the same type of power source which is NiMH battery. It is a rechargeable battery and with 12 V 5000 mA. This battery is mainly used as a power supply to Arduino Mega and other components. DC Motor and Controller for Pass Robot (PR) and Try Robot (TR) Figure 8: DC Motor and PS2 Controller The DC motor attached on both robots is 12 V DC motor with 300 RPM rated speed. This is used for rotate the four 100 mm omni-wheel for PR and 97 mm mecanum wheel for TR move its base smoothly. This type of DC motor achieves the high rated speed and torque which produce more efficient and smoother movement robot motions. While for the controller we used for both robots is a Plat Station 2 (PS2) controller. It used as the primary user-input-interface for PR and TR. The main advantage of it is that the 15 buttons and two analog joysticks can be programmed for different tasks. Actuator, Brushless Motor and Relays Figure 9: Actuator, Brushless Motor and Relays 281

TEAM UTAR KAMPAR The solenoid valve used to regulate pressure input on each pneumatic system for the PR. It has operating pressure range of 0.1 to 0.7 MPa and 12 V operating voltage requirement for operation. The Arduino will supply power through the use of four-way relay module as a switch due to restriction of 5 V supply voltage of the Arduino. The basic function of the relay is to allow a low power control voltage operate a high power switch, as the solenoid required 12 V to operate. Thus, we used brushless motor as the high speed of shooting and passing the rugby ball out on the PR.While for the relays we used SRD- 12VDC-SL-C Relay to control and managing the speed of our robots. 2.3 SOFTWARE DESIGN Arduino is one of the most popular and easy to use platforms for electronic projects and for this competition, Arduino Mega was chosen as the microcontroller for both robots. The controller we used to control the robots are wireless PS2 controller and to simplify the coding, a template with a library for the wireless PS2 controller was used as the base coding for the Arduino. After the coding uploaded to the Arduino Mega, all the buttons on the wireless PS2 controller was tested by using the serial monitor to ensure the wireless PS2 controller can establish a stable connection to the robot. Each of the robot has four wheels and four motors. To control the motor, a H-bridge motor driver was used, it will require three signal wires from the Arduino to control the direction of rotation and speed of the motor. After all the connection from the H-bridge to the Arduino had been made, the coding to control the motor was also added to the previous coding and uploaded to the Arduino to test the rotation of the motor to ensure that the motor is turning in the right direction when a button on the PS2 controller was pushed. The same coding was used for both the Try Robot and Pass Robot to control the movement of the robot. For the Pass Robot, there will be two servo motor to push the ball out. The green and blue button was programmed to control the movement of the servo. When the green button is pressed, the value that written into the servo motor will increase, and the servo motor will rotate counter clockwise. When the blue button is pressed the value written into the servo motor will decrease, the servo motor will rotate clockwise. So, blue button will be used to push the ball out of the robot, and to retract the mechanism green button will be used. For Try Robot, the Arduino will need to control a solenoid valve for the pneumatic cylinder and two ESC for brushless motor. The brushless motor will need to run in full speed before shooting the ball. The start button on the PS2 controller had been set to run the BLDC at maximum speed when it was pushed. To stop the motor, select button was programmed to stop the motor when pressed. For the solenoid for the pneumatic cylinder, it requires a high current which is more than the Arduino can provide, so the Arduino will first 282

control a MOSFET which can handle the high current that needed by the solenoid. The TEAM UTAR KAMPAR green button on the PS2 controller was used to control the movement of the solenoid, when it is pressed, the solenoid will be activated and the cylinder will be extended, when the button was released, the solenoid will close and the cylinder went back to its original position. 2.3.1 PROGRAMMING FOR PASS ROBOT (PR) AND TRY ROBOT (TR) Figure 10: Programing for PR 283

TEAM UTAR KAMPAR Figure 11: Programing for TR 284

3.0 ROBOT TESTING In this presentation of data and simulation of testing, the launching of the Pass robot (PR) and Try Robot (TR) has been tried for 13 times. To make sure the robots function well for passing, receives and kicking the rugby ball successfully. Table 1: Data of testing Pass robot (PR) and Try robot (TR) Table 2: Rate of launching Pass robot (PR) and Try robot (TR) 4.0 EVALUATION OF FINDINGS Our design is innovated in a way that our robots are unique and take every aspect into consideration. We will first discuss about the kicker robot. As we can see from the design above, we take the rugby launcher as the concept to “kick” the rugby ball to the place we want. Initially, we thought of making a catapult to throw the ball. However, we found that the shooting range is not consistent, and the shooter will break easily. So, the TEAM UTAR KAMPAR rugby launcher is our final decision so that the robot is robust enough to handle numerous times of shooting. Rollers are added so that the speed is adjustable which indirectly affects how high and distance the ball can go. 285

TEAM UTAR KAMPAR Next, the kicker robot is built with used 1.5L plastic bottle as air compressor. The robot can be repaired with ease and low budget. There are no needs to buy the air container with heavy metal which will also bring a consequence of extra burden (weight) to the robot itself which in turn slows down the speed of robot moving. Therefore, we can say that our robot is eco-friendly. Most importantly, a robot must be easy to use and control by others even though he/she is not clear about the magic that happened in the system itself. Our robot is worked in simple mechanism. The people who is controlling must move the robot with a controller just like playing an RC car. When a button is triggered, the robot that holds the ball will pass the ball to the plastic holder as a shooting platform. The ball will then be pushed to the rollers and shoot to only one direction in front of the robot, that’s it! Our aim is to build the robots that can be used by public but not creators themselves only. The second robot is used to catch the ball, kicker robot. The first selling point of the robot is light weighed material is used. The supporting system of the catching net is made from aluminium profile. This means that the robot will be much lighter compare to other robots. With the basic concept of Newton’s Second Law of motion, we know that the smaller the mass of the object, the faster the acceleration. Therefore, the robot has the ability to move in a greater velocity. The second reason why this robot is so special is because not only we designed a net to catch the object, but we did our calculations to adjust its display position as well. The net is given a big surface area and is put in a slanted position where the object can land into the net directly. This detail will improve the accuracy of the robot to catch the object. Lastly, mecanum wheel is used in the robot making where it provides a flexible movement for the robot to go anywhere in any direction. So not only the robot is able to travel faster, the friction in the movement will be reduced as well. 5.0 SUSTAINABLE ENGINEERING PRACTICES Our robots are mainly construct with aluminium profile and hollow aluminium tube. The main reason we choose aluminium is it can be recycled and reuse. Thus, we can say that recycle of aluminium is energy saving and environmental saving. Besides a good recyclable material, it also a nontoxic material and does not contribute to metallic pollution. We can conclude that use of aluminium in the development of our robots does not contribute to environmental issue. In addition, our PR is built with 1.5L reuse plastic bottle. As we know, plastic bottle cannot be recycled and is the main contributor to the environmental pollution. Decomposition of plastic require a very long period and the burning of plastic is poisonous. Instead of leaving it as a rubbish, we make use of the used material at our house to make it into a useful product. 286

Moreover, the battery we used in the development of our robots is rechargeable TEAM UTAR KAMPAR battery. Rechargeable batteries are better for environment than disposal batteries. This is because rechargeable batteries are capable of being used for many times since they can be recharged after used while disposable batteries can only be used once. Rechargeable batteries produce less waste than disposable batteries we can reuse it repeatedly instead of buy a new one. According to Jarrett [1], rechargeable batteries perform better disposable batteries. Rechargeable batteries dissipate 1.2 volts of energy whenever it is in use while disposable batteries will dissipate 1.5 volts of energy at start and gradually get lower until they are dead. Thus, rechargeable batteries use less energy than disposable batteries. It is more energy efficient than the cost and energy of making new batteries since recharging of batteries use less energy. 6.0 SUMMARY 6.1 CONLUSIONS In conclusion, the experience is building to robots which are the Pass Robot (PR) and Try Robot (TR) helps to strengthen the bond between teammates as it requires a lots of sacrifices and the sharing of knowledge. The PR is to perform pass and kick mechanisms. In order to shoot our rugby accurately and high enough, a smaller pneumatic cylinder is used rather than a bigger one. Besides, since our pneumatic cylinder needed air compressor, we discussed and made our decisions to used reusable bottles rather than those that made with metals. These not only reduced our costs but also is eco-friendly. The TR is to perform try mechanism. In order to fulfilled our objectives of having an accurate landing position of the rugby, fast and flexible moving robots, calculations and predictions are made during the progress. In a nutshell, priceless experience and knowledge are gained during this whole project. Although it is a tough task for us since we are new on it, but these skills had provided us a strong platform in future career. 6.2 LIMITATIONS Throughout the whole preparation of the PR and TR, some limitations had been discovered. There were three stages for our preparation, which were drafting, buying, and building. Firstly, for the layout drafting step, we can say that our design was quite good but since we were not managed to have a look on the materials before bought, our final product was different from our original designs. These caused some minor problems such as unfit screw holes, unexpected size of materials. The most troubleshoot problems is the size of the catcher net. Since a larger catcher net supplied us a greater advantage on catching the ball, so we planned to have a larger size, but it came out the materials were not as expected. Besides, the size of our pneumatic cylinder connector is also unfit, this caused trouble in connecting the tube to pneumatic cylinder. Secondly, although buying materials through online helped in reducing risk of getting COVID-19, 287

TEAM UTAR KAMPAR However also due to RMCO (Recovery Movement Control Order), the arrival of our packages was delayed. Therefore, our time were in short and progress were not as expected. Therefore, these reduced our time to practice on difference movements that can be performed by our robots, one of the difficulties faced is manual controlling of the robots. Thirdly, due to increasing cases of COVID-19, our team members were not able to gather. Therefore, there were not enough workforce to build the robots. Although, we were able to cope it with online communications tools, but it was still a tough period for us. Besides, tools required were not sufficient since we were not able to return to University’s lab. Therefore, some of the works were hard and lot of energies were wasted. Moreover, the speed of kicker was not as ideal, as the upper part was too heavy for the base to support. The materials bought are not enough. These problems and limitations consumed lots of our time and energy. 6.3 RECOMMENDATIONS There are a lot of rooms for improvement in this project. The time and budget restraint of this project had limited the performance of the robot. Firstly, the improvement can be done to catch the Rugby more accurately and effectively. The easiest way is to introduce a bigger catcher net, to have a bigger catcher net, a larger base is needed. Although this way is simple, but it is not the most effective way, so with the introduction of ball tracking program, this project can be improved. By introducing this program, our robots can recognise the motion of the rugby through a camera. Since videos are made up of continuous frames of pictures, so we take each picture and split it into pixels. Then, location of rugby can be found from the comparison of pixel colour with colour of rugby. This will surely improve the accuracy and success rate of the system. Secondly, obstacles avoidance using machine vision and artificial intelligence is preferable to improve the robot’s capability since our robots were controlled remotely. With obstacles avoidance and intelligent path planning, the robot can fully move in track that is planned. Furthermore, the robot could navigate itself to avoid obstacles along the planned track to complete its task. Thirdly, to solve the problem of insufficient workforce, we reallocated our tasks. Some of the team members are distributed to build the robot and some are distributed to test out the robot. These not only can increase our productivity but also supply us more time to finish our project. Moreover, speed is important to win this competition, so we tried many ways to improve the speed of our robots. Firstly, we tried with reducing the weight of loads, but our robots ended up with lesser functions. Therefore, we finally made up our mind with adding relays on each of our wheels and motors. Since the functions of relay is to control the opening and closing of the circuit. Therefore, when the circuit have high voltage, arc is reduced. When the circuit is in low voltage, the overall circuit noise is reduced to minimum. 288

Acknowledgements TEAM UTAR KAMPAR The author will like to thank the Faculty of Green Technology and Engineering (FEGT) and UTAR (Kampar campus) for financial support and lab providing supply helps that we need for the project in this COVID-19 period. Finally, we would like to express our gratitude to our lecturers, parents and friends who had helped and given us encouragement. We hope that our efforts are not wasted although ROBOCON 2020 competition had cancel but we will participate again next year. References 1. J. Jarrett. The benefits of battery chargers and rechargeable batteries. Top Ten Reviews, November 2019. https://www.toptenreviews.com/battery-chargers-and- the-benefits-of-rechargeable-batteries 289

ROBUST ROBOTICS ROBUST ROBOTICS FROM UNIVERSITI PERTAHANAN NASIONAL MALAYSIA Mohamad Firdaus Adnan, Muhammad Nur Shafiq Shamsul Iskandar, Muhammad Khalifahtullah Abdullah, Mohamad Syahril Ikram Mohd Lotfi, Nurulhani Adlina Madzan, Yusof Zainol Abidin, Syed Mohd Fairuz Syed Mohd Dardin, Noor Hafizah Amer, Zuhairi Abd Rashid Faculty of Engineering, University Pertahanan Nasional Malaysia, Kem Sungai Besi, 57000 Kuala Lumpur, Malaysia. ABSTRACT This document presents the design and development of robots submitted for ROBOCON Malaysia 2020 competition. The team consists of undergraduate students from Universiti Pertahanan Nasional Malaysia from various programmes. The development of robots for this competition consists of two robots namely Pass Robot (PR) and Try Robot (TR) that will be controlled manually by operators. Both robots were developed parallel but tuning the kicking mechanism is quite challenging. These robots have been successfully developed and manage to operate as per the game requirements. This report presents the process and the design development of both PR and TR robots along with the uniqueness of Robust Robotics Team. 290

1.0 INTRODUCTION ROBUST ROBOTICS The theme and rules of ROBOCON MALAYSIA 2020 is adapted based on the ABU ROBOCON 2020 Suva, Fiji which was designed to promote the idea of “Rugby 7’s”. For this year edition, UPNM Robust Robotics team comprises of a group of students from the Mechanical Engineering, Electrical & Electronics Engineering and Computer Science programmes. Using the same concept from previous competitions, two robots are still required in this year’s competition, namely Try Robot (TR) and Pass Robot (PR). The TR will have to navigate five obstacles which represent defence players in the actual game whereas the PR will have to throw the ball and also kick for penalty/conversion. The main highlight of the game is to design two robots that will collaborate to achieve all the tasks given, namely Pass, Try and Goal Kick. The main challenge in designing the robot is pertaining the kicking mechanism that needs to overcome a certain distance. Due to Pandemic Covid-19, the organizer has decided to held the competition in virtual platform where each team have to submit a demonstration of the developed robots. This is the third attempt from Robust Robotics team from UPNM for ROBOCON MALAYSIA competition. The aim is to develop a better, more efficient mechanisms and able to perform whole competition task successfully. Therefore, essential frameworks of mechanical, electronics and programming must be firmly incorporated before integrating towards further complexities. 2.0 DETAILED DESIGN Detail design for this project can be categorized into mechanical, electronic and software design, respectively. All of these parts will be combined later and integrated it into a complete functional system. 2.1 MECHANICAL DESIGN The mechanical division of the team focuses on the design, prototyping and building of the passing, trying, kicking and movement mechanism for both TR and PR. 291

ROBUST ROBOTICS 2.1.1 THE ROBOTS (a) (b) Figure 15 : Final Design of (a) PR and (b) TR. The final designed of both robots are presented in Figure 15. The PR was designed to perform a passing and kicking mechanism. Meanwhile, the TR was constructed to receive the ball, manoeuvre around obstacles and attempt a try. Both of the robot frames are made from aluminium profile for its rigidity in order to withstand any payload or constructed design. The materials used for the robots consists of steel, aluminium, plastic/3D print material, plywood and softboard which are based on the requirements, functionality and flexibility [1]. In addition, the microcontroller used to control every mechanism is by using Arduino Mega which was programmed using Arduino IDE. 2.1.2 MOVEMENT MECHANISM FOR TR AND PR The movement mechanism of each robot uses a set of 150mm mecanum wheels which is an omnidirectional design to move in any direction. The wheels controlled by 24V DC motor with a dimension of 80mm x 80mm x 151mm that connected via a hub. 2.1.3 PASSING AND KICKING MECHANISM FOR PR The passing mechanism consists of 4-linkages structure made of aluminium plates, springs, aluminium profiles, and pneumatic cylinder [2]. The passing mechanism was designed to use cylindrical pneumatic where pressure will be released to push the structure forward and creating a projectile motion of the ball like a catapult. The intended projectile will be base on the length of the arm, the force given and the weight of the object. The arm 292

was designed using aluminium plates and profiles for a simple mechanism to pick the ball. ROBUST ROBOTICS On the other hand, the main mechanical parts of kicking mechanism consist of 24 V DC motor, sprocket and chain. This mechanism mimics a human leg when performing a kick moment. Moreover, springs are used as an external force to boost the force acted upon the ball. To perform a successful kicking, the starting point of the leg is set to be at the top of the ball without overlapping. 2.1.3 RECEIVING AND TRYING MECHANISM FOR TR The receiving mechanism is made up of steel rods and net. The purpose of using the net was to reduce the momentum of the ball and the rod to withstand the impact from the ball. The construction of the net was designed to channel the ball directly to the gripper. The gripper consists of two rods which was 3D printed will hold the ball for performing a try with the help of latch that controlled by a servo motor. The sequences of the mechanism are; (1) gripper will hold the ball while the latch move into a position to support the ball, (2) by using pneumatic the gripper will release the ball while in support of the latch, and (3) the latch will slowly slide the ball and perform a try. 2.2 ELECTRONIC DESIGN The electronic components in TR and PR act as network synapse to send signals from microcontroller to control the mechanical parts. Arduino Mega acts as a microcontroller for the robots with recommended supply of 7 to 12V for stable operation. 2.2.1 POWER SOURCE For both robots, the same battery type is used known as Lithium Polymer (LiPo) battery. The battery used for both robots are 22.2V 6S LiPo Rechargeable Battery. However, there is a difference between both batteries for the minimum power capacity where Pass Robot is 3300mAh and Try Robot is 3000mAh. This is because the usage of power capacity required for Pass robot is higher than Try Robot. For the 6S LiPo battery, the maximum output voltage can be generated is 25.2V. 293

ROBUST ROBOTICS 2.2.2 DC MOTOR AND CONTROLLER The DC motor attached on both robots is a 24V DC 40W motor with 3000 RPM rated speed. The DC motor was used to rotate the mecanum wheels of PR and TR. The intention of using this type of DC motor was due to the high rated speed and torque which produce more efficient and smoother robot motions. A standard PlayStation2 (PS2) controller is used to control both PR and TR movement that used off-the-shelf PS2 shield. 2.2.3 CIRCUIT DESIGN The circuit was designed to manage the components that was controlled by the microcontroller based on its assigned pin. Figure 3 and 4 show an example of a circuit design and the PCB layout respectively for the TR. Figure 16 : Schematic Circuit Design for TR 294