Boxing Blocks

Arnav Bhatia
Aditya Munot
 We wanted our gizmo to be an advanced version

The Idea of classic 1v1 board games. After some ideation, the idea
was to make boxing robots that would mimic the
users actions and play against other bots.

Inspirations Our Game SHould be...

Wii Nunchuck Intuitive Fast-Paced Mechanical
Through the use of the Visually Appealing
nunchuck, Wii Boxing felt Futuristic Engaging
more life like and engaging

Action Reaction
Rock ‘Em Sock ’Em
Robot arm
Constant punching punches other
made the game fast
After going through bot
paced and interesting the likes of users and User punches
towards the
possible interactions, board
we decided to have 2
Real Steel main action-reaction
Robots fighting systems in our game:
need to simulate
real-life actions
Punching and Moving.
User leans forward Robot moves in the
and backward same direction
 Punching
This is a novel linkages system that
we developed in order for us to
achieve the goal of life-like punches.
Mechanisms Moving
Moving the robot went through multiple
iterations and it was decided that the
movement would only be front and back

Upper Arm Shoulder

The initial idea was to move the robot
in both x and y axis with another
y
linkage, inspired by Rock Em Sock Em.

x
Although, we realized that moving sideways didn’t make sense as the
We didn’t want our punch motion to be in just one user is only moving to dodge a punch, for which backwards is enough
direction, arm moving up and down, instead, we
Forearm
wanted the forearm to fold when flexed, and
straighten when stretched. The linkage is driven Rack and Pinion Mechanism
by a vertical motion of a slider that rotates the Slots for robot legs
shoulder and the upper arm in opposite ways. T to fit inside the rack
Elbow The forward and backward motion was
developed with a pinion and a modified rack.
The rack slides on to two shelves
This linkage forces the forearm Hole in the middle
created in the inner casing
Pinion to maintain a lateral motion and
to change angles with upper for the rack to move distribute the heavy weight of
arm without the need of an 3cm the body
additional motor unlike other The rack is one acrylic piece so
robotic arms, making it inventive. one motor can drive the entire
body.

Crank-Slider Mechanism
To provide the vertical motion needed at A rack and pinion generator was used to
the joint, a crank-slider mechanism is used. get the DXF files.
Rack

Slider

Crank
Faced an issue of servo angle
Servo Motor Pivot overshooting and messing the Pressure angle = 20 degrees
angles. Thus, we added a range No. of Teeth = 28
limiter for perfect alignment
First iteration to understand
Reduced to a small arm
Pitch Diameter = 30mm
the placement of the pivot holes
attached to the motor
 Electronics & COde
Connections and Components After connecting all electronic
components, the base box
Power Servo Pins Digital I/O
Pins (+-) to Shield Pins looked like this. 2 rails on a
breadboard acted as ground
5V Input and 5V terminals. Wires were
taped in order to group them
IR Sensor IR Sensor
and maintain their position.
Servo
Shield Punching Code
Servo
Arduino Servo

UNO R3
Ultrasonic

Sensor
Ultrasonic
Sensor

Servo
Servo
Use of millis() allowed to get
Servo
rid of long delays and making
the loop non-blocking and
Servo

Breadboard
IR Sensor IR Sensor
increase game fastplay

Added a line of code to

determine the speed of the
punch. Punch should be faster
than 200ms to be considered.
Makes game more exciting Each servo was calibrated with testing
and feels life-like. to get the optimum angles of movement
for a perfect punch.
The shield was powered
with an external 5V
By itself, Arduino UNO cannot handle 6 servos as the power adaptor

and current distribution makes the servo erratic. Thus, a PCA9685

shield was chosen as it is a PWM driver, making it handle multiple
servos with an external power supply of 5 Volts.
 Final Gizmo
After combining everything, the final gizmo was made with the
original hands placed inside a detatchable body.
Both the players work on the same mechanism and have been
aligned against each other with a slight offset so the arms don’t
collide

Arms
For the housing of our project, we
created an inticrate shelving and
wire system. The shelves for the rack
are integrated in the walls and
ground. All of it was acrylic laser cut
to reduce friction for the rack to slide
Infrared smoothly and move the robots.
Sensor

5V adaptor The gizmo worked as expected in the

to power end with all IR sensors detecting the
punches and servo enables the arm
linkages. As calculated, the rack was
Slots to hide able to carry the weight of the body
rack and pinion
Ultrasonic
Sensor

In the overall process, multiple

An issue we faced midway iterations of the mechanisms
was the inability of the were made, which meant
distance sensor to sense multiple prototypes as well.
fabric as it absorbs sound Over the course, at every
and gives erratic values iteration, we improved upon
to the echo pin. To quickly fix small things like pivots, beam
the issue, we made cardboard widths and motor arms.
belts that would work fine.
Cardboard wrestling belts