Design and Analysis of a Solenoid-Based Ball Kicking System on the Barelang63 Soccer Robot

Abstract

The kicker system on this wheeled robot is very important for kicking the ball. This study aims to develop and evaluate an efficient electromagnetic ball kicking mechanism that meets the performance requirements of wheeled soccer robots. This study presents the design and analysis of a solenoid-based ball kicking system for the Barelang63 soccer robot, which participated in the Indonesian Wheeled Soccer Robot Competition (KRSBI-Beroda). Solenoids were chosen for their ability to deliver a strong and stable kicking force in a compact form compared to spring or pneumatic systems. The system uses a 12 V Li-Po battery, with voltage boosted to 420 V and stored in a 4700–5600 μF capacitor. A microcontroller regulates the solenoid through pulse-width modulation (PWM) signals. Tests with PWM values of 150, 200, and 255 on three solenoid coil configurations, each tested ten times, indicated that higher PWM values and more coil turns increased kicking distance and stability. The developed system achieved kicks beyond 3 meters with good efficiency and control, showing potential for energy-efficient electromagnetic actuators in wheeled soccer robots.