Autonomous Devices Portfolio 1

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The aim of this exercise to for you to research the issues surrounding locomotion related to the 
build of a robot. Throughout this exercise, you should consider the features that your project 
robot will need to possess. 
PORTFOLIO EXERCISES 
 
EXERCISE 1 
 
1 
PORTFOLIO 
EXERCISES 
EXERCISE 1 
INTRODUCTION 
Your task in this exercise is to research locomotion engineering. In 
many robot designs (including the robot that you will build for your 
project) locomotion is a critical factor. How you design a robot can 
affect its ability to move in terms of 
1. Its speed 
2. Its agility (i.e. to be able to change direction quickly) 
3. Its pulling or pushing abilities 
4. Its battery life 
Considering each of these factors can change the type of motors that 
you use, how motors you use in a design and how you deploy the 
motors in your robot (e.g. they could be used for steering or drive). 
Within the exercises you have already completed at Level 5, you have 
come across two types of “motor” – the DC motor and the Servo. The 
latter can be considered to be an actuator like a DC Motor in that it can 
be used to cause motion. There are also other types of motors, such as 
stepping motors, which have different properties. Whilst you will be 
using DC Motors and/or Servos, in this coursework you should also 
consider the likes of stepping motors to appreciate the role that they 
play. 
The chassis that you will be provided with will be a wheeled chassis. 
However, robot locomotion does not need to be limited to a chassis 
that is driven (and steered) by wheels. You could have a chassis on 
tracks (like a bulldozer or tank), or even on legs. The decision 
regarding the platform that a robot will be built on can significantly 
affect locomotion, and for this exercise you will need to research issues 
relating to the underlying locomotion mechanism. 
MODULAR 
APPROACH 
You may wish to 
consider a modular 
approach to design. In 
this way you could 
change the 
configuration of your 
robot very quickly, 
simply by unplugging 
one module and 
plugging in another. 
You could, in theory, 
design two different 
traction systems and 
swap them between 
different tasks. 
 
2 
WHAT YOU SHOULD PRODUCE 
You should produce a short report, no longer than 1500 words, which considers the following aspects 
of locomotion 
1. When designing a robot, what features need to be considered and why. 
2. What are the different types of actuators that could be considered, and why might you choose 
one over another. What features do they possess. How do they impact on locomotion (and the 
design of the robot. 
3. What factors might affect your choice of mechanical platform (e.g. why might you select wheels 
over tracks, or a walking robot?). 
Your report should have a brief introduction and summary (one paragraph for each would be 
sufficient). Your report should also be fully referenced using Harvard referencing. To help you get 
started, there are a list of resources at the end of this document, and a further document for reading on 
Blackboard. 
RESOURCES 
http://en.wikipedia.org/wiki/Robot_locomotion 
http://orionrobots.co.uk/Robot+Locomotion 
http://www.youtube.com/watch?v=ae2GdtetpCE 
http://www.robotoid.com/howto/exploring-robot-locomotion-systems.html