Batangas State University

Integrated School
Technology and Livelihood Education
Robotics 9

Mr. Crabs
Prep Bot I
Group 1

Mr. Stephen Paul Fronda

Instructor, Robotics 9
Members:

Bacal, Paul Cleven Yuan C.

Opulencia, Carl Justine C.
Remolacio, Ryan B.
Reyes, Jose Andrei T.
Vengco, Ludwig Huntley V.
Alea, Kelsey M.
Marqueses, Keisha Marie M.

Chapter One: Insights

After several days of realization on how we can create a reliable but cheap robot, we
came up to an end but it is just the beginning of something new. We didn’t expect that we can
do such great things from sticks and stone which are beyond our own imagination. The true
purpose behind this invention is to have fun while learning. It can also enhance the critical
thinking of the user because our robot opens a gateway to the modern world of technology.

Our invention, Mr. Crabs, was a robot that was designed to resemble a crab that can
grip small and light objects. For now, our beloved robot can only lift tiny objects which have a
component of metal that can trigger the sensor but if we will be given a financial support and
opportunity, we’ll be able to greatly enhance its functionality and behavior as well. In our
journey in making this robot, we encountered several problems that test the solidity of this
group. We learn that there is no reason for us to lose hope despite of the struggles that serves
as the plot twist of our story. We also realized that every robot has its own unique purpose. It
lifts the essence of technology in our lives; it makes it easier and fun.

Jose Andrei Reyes

“Mr. Crabs was designed in different purposes, for education, preparation and
entertainment. This robot may be cheap but will help a lot for preparing and enhancing the
knowledge and strategy of our future generations in the world of technology especially in
Robotics. It can be also use as “Cheap Prototypes” of some instructors like you, Sir, in order to
explain the different uses of robots in industry especially the Hydraulics, Dynamos, Sensors
and Remotes, to the aspiring students like me. I promised that every grip that this robot will do,
will reflect to the development of our world of technology.”

Ryan Remolacio
“Mr Crabs is the product of the (countless) days and nights we poured into the creation
of this robot. After some errors and miscalculations, we felt down during the first version of our
robot which failed to function as we desired due to the malfunction of some of its parts. Seeing
our creation, I am now satisfied and happy with all the effort we made to create Mr Crabs. A
few months ago, I had no clue regarding the mechanisms of a basic robot but all of those
lessons and projects we performed led to the creation of our robot which is probably the main
reason for this project, to test our knowledge from the past quarters. Our robot is not much, but
it’s an honest work. “

Ludwig Huntley Vengco

“Our robot’s sole purpose is for education and entertainment. It helps children learn
basic knowledge and introduction to robots and its importance. Each part has its main
purpose, and without it, the robot would change significantly, possibly render it useless. It
would teach the audience the significance of robotic technology to our future. Technological
advancements are inevitable and one day it will dominate the world. That’s why the younger
generations should be taught at early age.”

Carl Justine Opulencia

“The main purpose of our invention was to educate with fun and let the students learn
while they are enjoying what they are doing because we think that it can produce a quality
education in a conducive and light approach. I agree to what my groupmates said; I admire the
purposes and objectives of our robot, I mean it was really nice, but I think it lacks something
regarding on its structure and the features on how it is created; the parts of the robot seems to
be weak because of the materials (cardboard, skewers and syringes) used to build it. If given
the opportunity and fund I would like to change the materials used so that it would be more
durable and safe to use. But we are still a young and growing company and there is always a
home for improvement; overall our robot is still one of the finest for me. Why not try it and let
the world witness how it serve as a bridge from our world to the modern one?”

Paul Cleven Yuan Bacal

I believe that robotics isn’t that recognize in the curriculum of other school specifically
public schools. The invention of this robot serves as an eye opener for those aspiring student
to have a better background in our technology in the modern day. In addition to this, this also
serve as an advocacy for those students that is not that financially oriented in terms of
education or those who belongs to the bare standard of living. Given the fact that robotics cost
a large amount of money with regards to the materials we create a robot that offers basic
knowledge that is cheap and reliable.

Kelsey Alea

“I think our robot can catch the attention of many children because of its crab-like
features. Our robot can also help them with their education since it can enhance their
intellectual and critical skills while controlling the robot.”

Keisha Marie Marqueses

“About our robot, I never expected that it can be formed with the combination of a
dynamo with a sensor, remote control and hydraulics. From this, a person can know basic
knowledge about these things if they got curious. This will serve as a guide to the people who
are eager to learn with the robots using non-malicious things“.
 In the end, we can say that creating a robot like this is really hard but we have to endure
the challenges and dilemmas that we faced along the way. We will cherish every moment and
every step we take. Thank you Sir Fronda. Thank you for letting us experience this kind of
journey. We hope that we will be able to turn this imagination into a reality.

Chapter Two: Objectives:

“Mr. Crabs” is a robot created solely for educational and entertainment purposes.

Opening the people to the world of technology through our robot especially the early
generation and let them witness the things they can do which are beyond their
imaginations.

 First of all, children whose age are 5 and above could have different
backgrounds in different fields of industry especially in hydraulics, dynamos,
remotes, sensor and etc. The design of the robot should be user-friendly or
appealing to the user.

To be able to make a successful invention of our robot in the cheapest way possible.

 For education purposes, we use our robot as a cheap model of instructors in a

school that does not tolerate robots that are somewhat costly in such a way that
they can better explain the essence of each robotics field.

To be able to apply the things we have learned from our previous topics.

Chapter Three: Dimensions:

STORAGE SECTION (Shell Parts)

Fig. 1.1 Fig. 1.2 Fig. 1.3

 Fig. 1.4 Fig. 1.5

DUAL-SHAFT MOTOR SECTION (Wheel Parts)

Fig. 2.1 Fig. 2.2

HYDRAULICS SECTION (Arm Parts)

Fig. 3.1
Fig. 3.3
Fig. 3.2

Fig. 3.4

Fig. 3.5
 CONTROLER SECTION (DPDT Switches, Syringes)

Fig. 4.2

Fig. 4.1

Fig. 4.4 Fig. 4.5 Fig. 4.6 Fig. 4.7

SUPPORTS SECTION (braces, bases, joints)

Fig. 5.2. Merus-part Support

Fig. 5.1. Arm Brace Fig. 5.3. Hydraulics Joint

Fig. 5.4. Dynamo base (stack) Fig. 5.5. Hydraulic Arm base Fig. 5.6. Hydraulic End-Effector
base
 DESIGN SECTION (minor details)

Fig.6.1. Brain Side A Fig.6.2. Brain Side B Fig.6.3. Eye

Fig.6.4. For “Sidearm”(Peeled Cardboard Surface)

Chapter Four: Materials / Tools

 Cardboard  Skewers
 Chip Board  Popsicle Sticks
 Cutting Materials  Syringes
Scissors  Cable Tie
 Medical Hose
Cutters
 Rubber Tire
Wire Stripper  Liquid Food Color
Side Cutter  Water
 Adhesives  Dual Shaft Motor
 100 rpm Dynamo
 Copper Wire
 DPDT Switch
 Measuring Materials
 9 Volts Battery
Ruler
 Old AAA Battery
T-square  Foam Board
Triangle
 Soldering Equipment
Soldering Iron
Soldering Lead
Soldering Stand
Disordering Pump
Chapter Five: Procedures

1. Using the cardboard, cut-out 6pcs of rectangle with the dimensions of 15cm as
the width and 20cm as the length.

2. Then using the remaining cardboard, proceed on cutting a trapezoid with a base
of 10cm and 20cm respectively and having the legs of 13cm.

3. For the final structure of the body, cut out two regular hexagons with the sides of
10cm and 20cm respectively.

4. Create eight rectangles with dimensions 2cm x 3cm respectively. This will serve
as a hinge to connect the sides of the body.

5. Stick all the said hinge to the 15cm x 20cm rectangles to create a hexagonal like
structure.

6. Adhere the trapezoids to the body to form a roof-like hexagonal figure.

7. Attach the smaller hexagon to the top of the structure formed from the previous
steps.

8. Manually cut bases for both arms (pincers) and attach it under the arm so that
attaching it to the body would be less of a challenge.

9. Next thing is to mark and cut two pairs of semi-circles with a radius of 5cm. Then
from the ends of each semi-circle, extend it 9cm downward and connect its end.

10. Measure and cut two pairs of 18cm x 4.5cm rectangles and attach it to the figure
that is created from the previous step. Puncture a hole enough to fit a skewer
through the cardboard. (See Fig.3.5)

11. For the arm, measure and cut two pairs of 25cm x 5cm rectangle and attach it to
the previous figure. Puncture a hole likewise as the previous step. (See Fig.3.1)

11. Attach cable ties to the syringe. Fit the skewers to the punched holes according
to the model.

12. Prepare four containers of water distinguished by its colors caused by the liquid
food color. And join/group the syringes with the skewers by attaching it using the
cable ties. Refer to our model for reference…
13. Make a diamond shaped figure with the top and longer legs measuring 10cm
and the shorter legs measuring 6cm.

14. For the pincer (end-effector) of the robot, proceed on measuring and cutting the
figure below. And puncture a hole to the markings specify.

15. Puncture a hole to the left and right end of the diamond shaped figure and
connect the pincer to the puncture hole using the skewer.

16. Attach cable ties to the syringe connecting the arm and the end effector. Fit the
skewers to the punched holes according to the model.

17. Puncture a hole through the end of the previous syringe and fasten the end
effector to the syringe with the help of a steel wire.

18. Measure and cut pair of 35cm x 7cm and 35cm by 10cm. Assembling these
rectangle will form a rectangular prism to where we will put the wheels for the robot’s
mobility.

19. For the moving apparatus, prepare a pair rubber tires and 4 identical wheels.

20. Solder the two wires to each of the dual shaft motor and DPDT switch.

21. Assemble the part where you will put the wheels. Then attach the wheels to the
parts created.

22. Next thing we need to accomplish is the robot’s remote controller. Be guided with

Fig.4.1-7 which shows the measurements as well as the shapes for the controller.

23. After assembling the controller, carefully insert the syringes as well as the
switches. (Note: Be careful cause the hose might detach causing the spill of great
amount of colored water that could cause severe damage to the hydraulic system of
the robot. Remember that our robot is made of cardboard.)

24. Create the sensor for the robot by putting the coin covered by aluminum foil, then
create the wirings for the sensor part. Again, refer the robot model created, as well
as robot videos on the internet.

25. Design the robot using the paint of your choice, as well as modify the robot in
case of any malfunctions. Troubleshoot the robot beforehand.
Chapter Six: Problems Encountered

Problems Encountered while creating MR.CRABS

1. Alignment of wheels. As we control the robot and witness how it moves gradually, we have
spotted that there is something wrong with the wheels. We make the two pairs of wheels
higher than the other pair with the motor on its side so that this will be the one responsible for
the direction to where the robot will go, followed by the two pairs without motor.

2. While we are doing the finishing touches for the robot, we noticed that the hands were a little
heavy that may lead to another serious problem that’s why we have decided to get one pair of
wheel from the base of the robot and put it in front supporting the hand.

3. The end-effector of our robot was for grabbing objects and it close and open depending on
the remote controller. But as it opens, the pincers (end-effector) hit the robot’s body which is
really alarming and may result to the stock up of the robot. After several minutes of decision
making, we come up to the idea of changing the length of the rectangular cardboard that made
the hand.

Reasons why we changed our Robot:

1. The moment we were going to submit our robot, a tragic scenario pertaining to the hand of
the robot unexpectedly occurred. The skewers joining the pieces of cartons and holding the
syringes suddenly broke apart. The strength of the said skewers wasn’t enough to withstand
the weight and force exerted by the syringes resulting to the collapse of the arm itself. As a
solution to the said problem, we changed the crane-like arm of the robot into two separate
arms on the left and right side that seems to resemble a crab’s pincers and the likes.

2. Another problem that we encountered is on the part featuring the dynamo. We noticed that
as we put coin on BMO’s mouth, the times that it engulfs the coin or the metal piece was
greatly lessened compared to the times it didn’t. As we do further inspection, we discovered
that there seems to be a clog in the dynamo. The remains of the glue stick serves as a
hindrance to the movement of the dynamo preventing its rotation. To prevent further problems
about BMO’s functionality and to ensure that the sensing ability of the robot will be at its finest,
we change its structure into a crab’s mouth like opening because the robot will not function
properly if we will stick to the original plan of having an attached box on its side containing the
dynamo.

Chapter Seven: Documentations