The rugby bot has an Octagonal chassis and a four wheel steerable drive that outperforms other drives in terms of manoeuvrability. Each of the four wheels is equipped with a planetary gear motor (with low noise, good durability,
and a reasonably high quantity of torque transmission) that serves as the source of locomotive force. All of the wheel casings are joined to sprockets that are linked by a common chain system that is powered by a single Super
Hercules motor. During translation, each wheel is driven independently to push the robot, while the direction of motion is precisely regulated by the Super Hercules motor, which requires only half of its whole revolution to
travel in any direction and be present in any orientation.
The PR's locomotion is controlled by a PS2 controller, which transmits commands to the robot's brain, the Arduino Due, and the Due responds by sending commands to Hercules Motor drivers (Peak Current-13A), which drive
the locomotion motors to produce the necessary motion. The kicking and passing activities, on the other hand, are performed independently, making the PR a semi-autonomous robot.
The kicking mechanism is made out of a rod that is connected to a sprocket. This is powered by a 24 V E-bike motor, which is likewise mounted on the chassis's base. The rod was chosen because it has a precise contact area with
the ball.
A successful goal kick requires the foot to strike the ball at an angle ranging from 37ᵒ to 62ᵒ. A power of 80W is also required for the kick, which is supplied by the E-Bike motor (350W rated). Before
each kick, the alignment of the robot with regard to the wall is maintained using two TF micro LIDARs (using the PID algorithm) for more precision and accuracy.
The arm is connected to a sprocket that is powered by an E-bike motor. This motor has more power than is required to pass the ball (which is 30.26W according to our calculations for a distance of 4m). The motor is mounted on the chassis's lower
section, and power is delivered to the sprocket through a chain system (which increases the stability by lowering the centre of mass of the PR). The pass robot has a type B laser mounted on the front of the robot. Before the pass, the pass
robot uses this laser to align with the try robot.
When the robots are aligned, the passing mechanism begins to rotate and the ball is released at a velocity of 6.4 m/s, which ensures that the ball follows a parabolic route and securely arrives into the reception mechanism of the Try robot when thrown at angles ranging from 32ᵒ to 55ᵒ. To ensure that the ball is delivered within certain angles, an encoder is used.
