Mechanical Design and Control System of Ball Handling Mechanism in Mobile Soccer Robot

• Main Author: Yoga Semeru, Yudhistira
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/43405
• Institution: Institut Teknologi Bandung

Kontes Robot Sepak Bola Indonesia - Beroda (KRSBI-B) is one of the divisions in Kontes Robot Indonesia (KRI) that matches two soccer robot teams. This competition has been held every year since 2017 both at the regional and national levels. The match system, field, and equipment needed, based on the rules in Robocup 2018. Robots that have more ball possession skills will have more advantages in the game. In that case, The robot requires the mechanism that handles the ball possession. One of them is a ball handling mechanism. The dribbling system is the basic ball keeping mechanism in the robot. In a match, there are rules that require ball rolling to be the same as the direction of translation and its natural rotation of the ball, without that, the robot will inherit a violation. Wheeled soccer robot that has now been made does not yet have the ability to produce ball control according to these provisions. In this research, a dribbling system with the ability to keep the ball in the x-axis, y-axis, and rotation with the variation of the robot’s speed 0.5 m/s, 1.0m/s, and 1.5m/s. Ball handling mechanism has the ability to keep and roll the ball in every mode and direction of movement