MECH1070 – Problem-Based Learning Group Project – Group No.

3
Implementation and Demonstration of Design and Product Development
Activities for the Case of a Telepresence Robot
Zain Humayoun, Faculty of Engineering & Science, University of Greenwich, UK. ID: 001031353 Email: [email protected]
Ismail Gonul, Faculty of Engineering & Science, University of Greenwich, UK. ID: 000915118 Email: [email protected]
Owen Mansfield, Faculty of Engineering & Science, University of Greenwich, UK. ID: 001047006 Email: [email protected]
Aaron Hoang, Faculty of Engineering & Science, University of Greenwich, UK. ID: 001044279 Email: [email protected]
Robert Koroma, Faculty of Engineering & Science, University of Greenwich, UK. ID: 000932696 Email: [email protected]
Andrei Jagotincev, Faculty of Engineering & Science, University of Greenwich, UK. ID: 001017782 Email: [email protected]
James Hazeldene, Faculty of Engineering & Science, University of Greenwich, UK. ID: 000896744 Email: [email protected]

ABSTRACT
This report outlines the work completed for the Mechanics and Design of Machines Problem-Based Learning Group
Challenge. For this project, we were tasked with designing a fully functioning telepresence robot. Initially, research
was completed to decide on a task that our telepresence robot could complete and from there every member
completed a concept design before agreeing on our chosen idea. The next stage in development was to complete a
function diagram and to decide on what components we would be using before 3D modelling the final product and
all its internal components. Without building the robot, it is unclear how well the robot would complete the specified
task, however through analysis it is clear that the product would perform well.
Keywords
Engineering Design, Product Development, Machine Elements, Telepresence, Search & Rescue, Centre of Mass, Acceleration,
Velocity, 3D Modelling, Function, CAD, SolidWorks, Technical Drawing

1. INTRODUCTION Design Problem

Telepresence robots are mainly used within a business
Within engineering, use of telepresence robots is increasing conference to virtually communicate with co-workers.
on a large scale, with applications ranging from virtual However, using a telepresence robot for search and rescue
presence machines to allow global meetings without the need could be beneficial to help identify the location of an injured
for travel, to robots designed to disarm bombs and go into civilian and give reassurance until a medical team reaches the
areas that are too dangerous for humans. It is expected that location. If the injured civilian is with someone the
the use of telepresence robots will continue to grow telepresence could then allow first responders to interact
exponentially as they enable people to be anywhere in the with that person to give basic steps for first aid. There are
world, performing any task. That means that specialists like limitations to what the telepresence robot can do such as
doctors or engineers can provide their service to almost deployment such as will it be deployed from a nearby station.
anybody. A task that is particularly dangerous for humans is As it will be remote controlled the robot must be within a
search and rescue, as it involves putting another person at specific radius to the controller in order to operate.
risk, as members of the rescue team are required to enter the Urban Search and Rescue (USAR) has been researching into
dangerous areas where the person being rescued is stuck. teleoperation robots to help in search and rescue when
In these situations, a telepresence robot can provide there is a natural disaster in the urban area [3]. Using
assistance with search and rescue, allowing specialist telepresence robots to help identify the location of injured
operators to control these robots into dangerous areas to not civilians could reduce the risk of staff getting injured whilst
only find people and rescue them, but to allow the user to searching through rubble. There are limited prototypes of
communicate with the person that needs to be rescued. This
telepresence robot in the search and rescue field.
can be advantageous as the operator can not only comfort
them but also instruct the person on what they need to do.
The aim of this project is to design a telepresence robot that Design Brief
will complete a task that is unique to this robot. Some The robot was targeted at the search and rescue sector so the
research showed that a telepresence robot targeted at search design would need to be relatively lightweight so that it can
and rescue would be unique. move quickly and also climb up inclines when necessary. The
2. DESIGN BRIEF & PRODUCT DESIGN SPECIFICATION (PDS) robot may be used for long periods of time which means that
a good battery life would be required to allow for this
2.1 Design Problem & Design Brief extended usage. The ability to combine the product with a
grappling line would be useful as it would allow for the robot

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to be towed up inclines when necessary. A communication the situation of the person being rescued; and talk to and
device would be needed so that the person being rescued and assure the person being rescued with face-to-face
the operator could effectively communicate. The communication.
communication device should be height adjustable and On the robot, the tablet (which contains the monitor,
rotatable so that the device could be positioned dependent speakers, microphone, and camera) would be attached to a
on the situation to allow for ease of use. The robot would be motorized pole which allows the operator to look around the
required to operate in a variety of environments, with varying robot’s surroundings without having to move the robot.
terrains, so the robot would need to be able to move around The robot would primarily use a motor for its movement but
regardless of the terrain. could be assisted by the winch in case it gets stuck or needs
to traverse an extreme incline. The winch would be the winch
2.2 Product Design Specification (PDS) that most first responder vehicles come with, reducing the
cost of the product as a winch wouldn’t need to be purchased
As the group decided to make the robot design for search & necessarily. Wireless transmission would be used to avoid the
rescue purposes, the specifications were produced, relating loss of control of the telepresence robot in the event of
to this purpose. damage to a wire, which is a possibility in the treacherous
1. Product must be lightweight. environments where search and rescue missions are
2. Product should have good battery life to allow undertaken.
for extended use.
3. Product should incorporate grappling line to 3.3 Design Concept Development & Selection
allow for towing of the device.
4. Product should have a tablet for video The first stage was to come up with some initial sketches that
conferencing to allow for communication with could potentially be developed to produce the solution to the
the person being rescued. design problem. Each group member came up with a design,
5. Product should have microphone and speaker which was aimed at meeting the product specification as
for to allow for communication from the much as possible, and then a vote was used to decide the best
rescuee to the rescue team. 3 designs. All of the 7 initial designs can be found in the
6. Product should allow for rotation and height Appendixes (2-8)
adjustment of the tablet so the screen can be
easily be viewed by the person being rescued. Once the top 3 designs were selected, the designs
7. The product should have rubber tires and were developed, considering certain factors about the
suspension to allow for good stability of the design.
video and to allow for the device to traverse
tricky terrain. Design 1:

3. CONCEPT DESIGN

3.1 Function Diagram

Figure 1 - Function Diagram (Enlarged Version - Appendix 1)

Figure 2 - Sketch of Concept Design 1
3.2 Function Analysis The first design was a small vehicle, with a camera mounted
to a rod on the top. The bottom part of the device had a
Both the remote and the robot would be equipped with a similar design to a remote-controlled car. The car would have
radio receiver and radio transmitter, connected to each wheels mounted to an axle which would be attached to the
device's CPU for the processing and encoding of the radio main body via suspension. This suspension would improve the
signals. The remote control would have a built-in tablet which durability of the product as it reduces the vibration
would allow the operator to: more effectively control the experienced by the components on the device. The rugged
robot by being able to see what is around the robot; assess design would provide good durability and make the device

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very lightweight, which would then improve the speed of the traveling on rough or lose surfaces. Each wheel would have a
device. The simple design would reduce the cost of materials plastic rim and then a rubber tire, which would allow for easy
involved with the product and would also make the device manufacturing. The components selected would be high-end
simpler to operate. The product would not be the most versions to provide good performance and durability. The
aesthetically pleasing product but the target use means that tablet/phone mount would be manufactured using 3D
the performance is more crucial. There was also a rod on the printing and would be assembled with nuts and bolts, which
back of the device which a winch line could be attached to, to would allow for the position to be adjusted. The main body
allow for the product to be towed. would be made from plasma cut stainless steel which adds to
the durability of the robot and weight to create a more stable
Design 2: platform for the mount. The sonic sensors would help detect
any nearby obstructions and would halt the movement of the
robot automatically and prevent collision. These sensors
could be hidden within the body of the robot with a cut out
allowing for the scanning of the area ahead. The micro
controller allows for the control of the movement and the
Bluetooth modules would allow for Bluetooth connectivity for
updates and control of the robot, although this feature is
mainly for setting up the initial product. The battery will be a
rechargeable lithium ion battery, which could be plugged in
without removing it from the device. This kind of design will
be a more robust but less pleasing to the eye as the finishes
on the steel should be hood in order to have an exceptional
look.

Figure 3 - Sketch of Concept Design 2 Design Selection

The second design, which had the same search and rescue These 3 designs were then scored against a series of criteria,
purpose, had 2 versions with the same principles. Both to select the optimal design solution for the selected design
versions had a communication device at the top, connected problem. Table 1 shows the average score per factor for each
to a pole that could bend, which would allow for the change design. Appendix 9 shows the full table with each score given
of height and angle of the communication device. This pole for each of the factors.
would also rotate 360o to allow for all round views. The tyres
were thick to allow for good stability when off road. There Table 1 - Scores for Concept Designs Against 7 Factors
was also a grappling line contained within the product which Factor Design 1 Design 2 Design 3
could then be used to tow the device when need be. The main Cost 8.75 7.75 7.25
issue with the design was the bulkiness and the height, which Durability 8.25 7.25 7.50
would lead to a high centre of mass, which reduces the off- Aesthetics 8.25 8.00 7.00
road capabilities of the product. The only difference between Ease of Use 8.75 8.00 8.25
Speed 7.75 6.50 5.75
the two versions was slightly different aesthetics.
Stability 8.25 5.50 8.00
Performance 8.75 5.75 6.25
Design 3:
TOTAL 58.75 48.75 50.00

This led to a single design being selected, which would be the

design taken forward in the project, with embodiment taking
place on 3D CAD software. The selected design was design 1,
but during the final development of the product, aspects of
the other 2 designs would be considered.

4. EMBODIMENT & DETAIL DESIGN

4.1 Detailed 3D CAD Modelling and Design

Figure 4 - Sketch of Concept Design 3
Modelling Process
The third design would be a robot that would be controlled
The 3D CAD modelling was split into two parts – the top half
over the internet from a computer or a mobile device. Each
(which involved the shell, the screen, and the antenna) and
wheel would have its own motor, which allows for better
the bottom half (which involved the chassis, the computer,
traverse rotation on the spot and better traction when
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the wheels, and the motors). This allowed the work to be split The first thing calculated was the maximum velocity of the
between two group members. robot. This was based off the RPM of the motor and the size
The two were then broken down into the components, which of the wheel.
would all be individually modelled. Each component was then
modelled using SolidWorks. Once the components had then 𝑀𝑎𝑥 𝑅𝑃𝑀 = 3500
been produced, they were assembled to form the two 𝑅𝑎𝑑𝑖𝑢𝑠 𝑜𝑓 𝑊ℎ𝑒𝑒𝑙𝑠 = 0.05295𝑚
separate parts. These two parts were then joined together to 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠 𝑝𝑒𝑟 𝑆𝑒𝑐𝑜𝑛𝑑 = 3500⁄60 = 58.33
produce the full model of the design. 𝐶𝑖𝑟𝑐𝑢𝑚𝑓𝑒𝑟𝑒𝑛𝑐𝑒 = 𝜋 ∗ 2 ∗ 0.05295 = 0.33
Once the model had been completed, it was then possible to 𝑀𝑎𝑥 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 = 58.33 ∗ 0.33 = 19.41𝑚⁄𝑠
render the model to produce 3D rendered images. The model
could also be exploded to provide an exploded view of the The next thing calculated was the driving force produced by
assembly of the model. Furthermore, all of the individual each motor. This was calculated from the torque of the motor
components could be converted into technical drawings to and the radius of the wheels to which the torque was applied.
display the dimensions relating to the components.
𝑀𝑎𝑥 𝑇𝑜𝑟𝑞𝑢𝑒 𝑝𝑒𝑟 𝑀𝑜𝑡𝑜𝑟 = 1.1𝑁𝑚
Challenges Faced 𝑅𝑎𝑑𝑖𝑢𝑠 𝑜𝑓 𝑊ℎ𝑒𝑒𝑙𝑠 = 0.05295𝑚
There was one major challenge faced during the modelling 𝐷𝑟𝑖𝑣𝑖𝑛𝑔 𝐹𝑜𝑟𝑐𝑒 𝑝𝑒𝑟 𝑊ℎ𝑒𝑒𝑙, 𝐹𝑊 = 𝑇/𝑟 = 1.1/0.05295
process. This was the sudden outbreak of COVID-19. This led 𝐹𝑊 = 20.77𝑁
to the group have no access to the laboratory computers
which had initially been used to develop the first few This force was then used to calculate the maximum
components. These laboratory computers were crucial in the acceleration of the robot.
process.
The first issue presented by not having this access was the 𝑀𝑎𝑠𝑠 = 3.36605𝑘𝑔
lack of access to the software. A copy of SolidWorks was 𝑀𝑎𝑥 𝐴𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛, 𝑎 = 𝐹 ⁄𝑚
𝑎 = 𝐹𝑊 ∗ 4⁄𝑚 = 20.77 ∗ 4⁄3.36605
provided to the group, but it was only installable on Windows
𝑎 = 24.69𝑚⁄𝑠 2
and it also required computers with good processors to run
smoothly. This heavily limited the group’s access to the
This shows that the robot can accelerate to its maximum
software, and even the members who could run the software
velocity within a second, allowing for quick deployment to a
struggled with the modelling process due to the slow speeds
victim’s location.
of the software on their devices.
The angle of incline at which the robot would topple was then
The next issue the lack of access caused was the group
calculated, in order to work out the maximum angle which the
members were unable to access the components that had
robot could climb at. This was done by looking at the location
previously been modelled and saved to the computers. These
of the centre of mass in relation to the point of contact
components then had to be reproduced.
between the tire and the surface. The centre of mass was
An additional program linked to SolidWorks on the laboratory
provided by SolidWorks for the model of the robot. The
computers was Photoview 360, which allows for rendering of
distance was then calculated to the contact point.
models as a more realistic image. The group therefore did not
have access to this and this impeded the group’s ability to
𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑖𝑛 𝑋 𝐷𝑖𝑚𝑒𝑛𝑠𝑖𝑜𝑛 = 32.88𝑚𝑚 = 0.03288𝑚
render the model.
𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑖𝑛 𝑍 𝐷𝑖𝑚𝑒𝑛𝑠𝑖𝑜𝑛 = 60.73𝑚𝑚 = 0.06073𝑚
The other issue faced by the group was that 2 team members 𝑥 0.03288
were collaborating on the CAD modelling, and the lockdown 𝜃 = tan−1 ( ) = tan−1 ( )
𝑧 0.06073
caused by COVID-19 restricted their ability to work together 𝜃 = 28.43°
on the modelling. This was partially resolved through the use
of TeamViewer, which allowed the two members to remote The final thing that had to be verified was whether the motors
control each other’s devices as part of their collaboration on would be able to overcome the weight of the robot when
the project. travelling up this maximum angle of incline. Therefore, the
net force was determined when the robot was travelling at
4.2 Design Analysis and Optimization this angle.

The parameters of the motors selected for the robot and the 𝐹 = 𝐹𝑊 ∗ 4 − 𝑚𝑔 sin(𝜃)
dimensions of the robot can be combined with the centre of 𝐹 = 20.77 ∗ 4 − 3.36605 ∗ 9.81 ∗ sin(28.43)
mass to determine some key numbers relating to the 𝐹 = 67.38𝑁
performance of the telepresence robot. The mass of the
device was calculated by SolidWorks for the model produced. As the net force is positive, the motors are powerful enough
This was the value used in the calculations. to overcome the weight when ascending at the maximum
angle. If the incline is greater than the maximum angle, the
winch can then be used to pull the robot up the incline.

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 6. COMPONENTS & MATERIALS
4.3 Design Documentations
6.1 Components
Appendix 10 3D Rendered Image of Product
The components selected for this robot were chosen based
Appendix 11 3D Rendered Image of Underside on durability, dependability, cost, ease of use and
of Product performance overall in the marketplace. The components
were sourced from Farnell [1].
Appendix 12 - 15 Technical Drawings of Stepper
Motor Mount Stepper Motor - Nanotec DC Stepper Motor
This is a best-selling and highly rated DC stepper motor. There
Appendix 16 - 18 Technical Drawings of NEMA 17 will be a motor directly connected to each of the 4 wheels of
Stepper Motor the robot to give it the required power and traction on loose
surfaces and large inclines. The motor is a 24-volt 135-watt
Appendix 19 - 21 Technical Drawings of NEMA 17 three phase motor with a maximum RPM of 3500 and a
Adaptor maximum torque of 1.11 Nm.

Appendix 22 - 23 Technical Drawings of Chassis Battery - RRC2020 Rechargeable Lithium Ion Battery
Board The battery used for this robot is a RRC2020 Lithium Ion
battery with a voltage of 11.25V and a capacity of 8.85Ah. This
Appendix 24 - 26 Technical Drawings of Wheels & battery will provide enough power operate the device. The
Tyres battery has all the required certification and legislation. The
battery also has protection against overheating whilst
Appendix 27 - 29 Technical Drawings of Battery discharging and charging. It is expensive but the benefits of
this battery outweigh the negative of the cost.
Appendix 30 - 33 Technical Drawings of Battery
Encasing Antennas - 900MHz Rubber Duck Antenna
This antenna is used to send radio signals to the operator and
Appendix 34 - 36 Technical Drawings of Hex the robot allowing for remote control of the device. This
Standoff product is high performance which means it will emit strong
signals over larger ranges which is necessary for this function.
Appendix 37 - 39 Technical Drawings of DC to DC It is also weatherproof which is crucial as the product will be
Converter used in outdoor environments.

Appendix 39 - 42 Technical Drawings of Grub Screw Screen - 8" 1024x768 LED Display
The screen is of a suitable size so that it does not provide to
Appendix 43 - 46 Technical Drawings of Button M4 much excessive weight but is still visible for the person being
Bolt rescued. The device comes with built-in camera, microphone
and speaker which is important for the communication aspect
Appendix 47 - 50 Technical Drawings of Hex M3 Bolt of this device.

Appendix 51 - 54 Technical Drawings of Robot Body Motherboard - Raspberry Pi 3 Model B

with Built-In Screen & Antennas This model of the Raspberry Pi series comes with 1Gb of Ram
and has a 1.2GHz processor. This motherboard is optimal as it
Appendix 55 Exploded View of Device with is fully operational and customisable so it can be optimized
Components Labelled for the function it is being used for.

5. WP4 - PROTOTYPING & MANUFACTURING DC to DC Converter - 12V to 5V DC to DC Converter

This converter was selected as it provides a steady 5V output
For this project, the proof of concept prototype was virtual. with a power of 15W and a current of 3A. This converter
The animation can be found at the link below: selected as the output would be suitable for powering the
device and it would provide a reliable supply of power and
University of Greenwich - Telepresence Robot Project protect against surges in the power supply. It is very small
https://www.youtube.com/watch?v=LSuRV- which is important as it can be easily fitted and does not
ePqMo&feature=youtu.be increase weight too much.

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Nuts and Bolts - Assorted Set from BABAN suitable. Firstly, it is water resistant which is crucial as the
This set was selected as it provided an assortment of different product will be used outdoors and will often be exposed to
sizes of nuts and bolts that could be assemble the robot. This water. The material is also lightweight which helps keep the
set would not rust as these assortments are durable and rust- weight of the device to a minimum, which improves the speed
resistant which is crucial when the device will be used in of the device. Furthermore, polyethylene has relatively good
varying weather conditions. heat resistance which is important as it is going to be in close
proximity with electrical components which could heat up.
6.2 Materials Finally, the components can be easily manufactured as
polyethylene can be used with 3D printing.
The wheels were made from aluminium as the wheels need
The chosen materials for specific parts of the device are
to be corrosion resistant to deal with the outdoor
displayed on the exploded view of the device (Appendix 55).
environment and strong enough to deal with any bumps they
The selection of these materials was aided by the use of CES
may experience. The tyres were made from rubber as it will
graphs. The graphs used showed the relationship between
allow the tyres to be durable, which allows for a long life, and
cost and density (Figure 5) and then Youngs’ modulus and
they will also provide good grip on the varying surfaces they
yield strength (Figure 6) for a variety of materials. Enlarged
will be used on.
versions can be found in the Appendixes (56 & 57)
7. COST & MARKETING

7.1 Cost

In every engineering project cost is a major factor when

designing and developing a product. Cost can determine the
quality and overall performance of the robot. It is important
for manufacturers to consider the cost of each component
and overall cost as this will affect the retail price. The goal
with this product was to manufacture a product that used
suitable materials and components, whilst keeping the device
cost-effective.
Table 2 - Cost of Components & Materials
Figure 5 - CES Graph Showing Relationship Between Density and
Price for Different Materials Component Quantity Price per Unit Cost
DC Motor 4 £95.00 £380.00
Raspberry Pi Model
1 £40.00 £40.00
B Motherboard
Wheels 4 £8.00 £32.00
8” Tablet Device 1 £60.00 £60.00
Antennas 2 £7.00 £14.00
Battery 1 £150.00 £150.00
Aluminium Chassis 1 £20.00 £20.00
Nuts & Bolts 1 Set £15.00 £15.00
DC Motor Bracket 4 £13.00 £52.00
TOTAL £763.00
Figure 6 - CES Graph Showing Relationship Between Yield Strength
and Youngs' Modulus for Different Materials
Table 2 shows the breakdown of the components and their
cost per unit, leading to an overall cost of £763. This is the
The shell of the device would be produced from aluminium manufacturing cost of the robot. The device will be retailed at
due to its good strength to weight ratio, which is why it is used £1000, resulting in a 23% profit margin.
in car bodies, and makes it suitable for this use. The body This profit will be re-invested to allow for further
needs to be strong to withstand impacts when traversing development of the product, such as the addition of further
rough terrain, but it also needed to be lightweight so that it features and new technology, to make the device more
did not add to much weight to the product. sustainable and innovative. The profit could also be used to
Many of the parts were made from polyethylene. This is due develop further robots that are similar but could be targeted
to some of the properties of the material making it the most

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at other areas, such as a robot that could be used in sea-based Many lessons were learnt during this process. Firstly, it is
search and rescue missions. important to undertake a strong design development process
to ensure that the product is as good as possible and meets
7.2 Marketing the specifications set. Another lesson learnt was that it is key
to manage time effectively during the project, as poor time
management leads to some areas of the project being below
The telepresence robot is specifically designed for search and
par. Another lesson learnt is that good communication as a
rescue operations and there are very few robots that are
group is key to ensure that the whole group is working on the
designed for this speciality. This automatically makes the
same wavelength to produce a good product.
design really good for marketing. The search and rescue
The project was heavily affected by the outbreak of COVID-
robot is not restrained to any specific area of use either as it
19, which restricted the group’s access to software and
can be used on any kind of terrain, allowing for use all over
technology that was key for specific areas of the project. The
the world.
outbreak also had a major affect on the group’s
The robot will allow for search and rescue teams to assess
communication, as it prevented any face-to-face meetings,
situations before any of the team enter the treacherous
which proved key as the group often had different
environment. This greatly reduces the danger to the search
perceptions of what some of the sections of the project
and rescue teams who undertake the missions, which makes
required. This emphasized how crucial good communication
it very marketable as safety is a major concern in the search
is for a good project.
and rescue sector.
There are many reasons or situations that telepresence
9. ACKNOWLEDGMENTS
robots can be used for. One example of is that telepresence
robots can easily be used by health organisations to go from
Academic and technical staff at University of Greenwich are
door to door for medical check-ups. This would allow for acknowledged for advices and guides during the time of project
check-ups to be conducted virtually reducing the risk of implementation.
transmission of viruses and infections to the medical teams.
Telepresence robots are currently the present and the 10. REFERENCES
upcoming future as more companies are now buying
telepresence robots for various applications, making it a fast- [1] Farnell (N.D) Farnell [online] (Accessed 01/02/20) Available at:
growing market. https://uk.farnell.com/
There are many firm challengers in the market right now such [2] Mordor Intelligence (2019) Telepresence Robots Market -
Growth, Trends and Forecast (2020 - 2025) [online] (Accessed
as Ava robotics, Double Robotics, AMY
16/03/20) Available at:
Robotics, VGo Communications Inc. and Wicron Company.
https://www.mordorintelligence.com/industry-
However, none of the products developed by any of these reports/telepresence-robots-market
companies are anything like the device that has been [3] Wegner, R. and Anderson, J. (2004) Balancing Robotic
designed during this project, with all of the existing products Teleoperation and Autonomy for Urban Search and Rescue
being large, upright devices used in environments such as Environments [online] (Accessed 10/04/20) Available at:
offices. https://link.springer.com/chapter/10.1007/978-3-540-24840-
8_2
8. CONCLUSIONS & LEARNT LESSONS

The product designed met the majority of the product

specifications set for it. The product was lightweight, as
desired, and the lithium-ion battery selected would provide it
with a good battery life. A grappling line could be connected
to the rear of the device, which was another specification set
for this design. The robot had the communication capabilities
that were required by the specification and it had rubber tyres
as intended. However, one of the specifications stated that
the video communication tools should have an adjustable
height and should be rotatable. The design does not meet this
specification. This hinders products performance when trying
to communicate with the person being rescued. In hindsight,
the design should have been modified so that it fulfilled this
specification, as it would improve the product. However,
despite this, the product designed would make a big impact
on the search and rescue sector, making this design quite a
success.

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11. APPENDIX

Appendix 1 - Function Diagram

Appendix 2 - Initial Design Idea 1 Appendix 3 - Initial Design Idea 2

Appendix 4 - Initial Design Idea 3 Appendix 5 - Initial Design Idea 4

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 Appendix 6 - Initial Design Idea 5

Appendix 7 - Initial Design Idea 6 Appendix 8 - Initial Design Idea 7

Concept 1 Concept 2 Concept 3

1 2 3 4 Average 1 2 3 4 Average 1 2 3 4 Average
Cost 9 8 9 9 8.75 8 7 7 9 7.75 8 7 6 8 7.25
Durability 9 8 8 8 8.25 6 8 7 8 7.25 8 7 8 7 7.50
Aesthetics 8 7 10 8 8.25 8 7 8 9 8.00 8 6 8 6 7.00
Ease of Use 8 8 10 9 8.75 8 9 7 8 8.00 9 8 8 8 8.25
Speed 7 6 9 9 7.75 6 5 6 9 6.50 5 5 6 7 5.75
Stability 8 8 9 8 8.25 4 7 4 7 5.50 10 8 9 5 8.00
Performance 9 7 10 9 8.75 4 5 5 9 5.75 6 7 7 5 6.25

Totals 58.75 48.75 50.00

Appendix 9 - Full Table of Scores for Concept Designs

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 Appendix 10 - 3D Rendered Image of Product

Appendix 11 - 3D Rendered Image of Underside of Product

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Appendix 12 - Technical Drawing Appendix 13 - Technical Appendix 14 - Technical Appendix 15 - Technical
of Stepper Motor Mount Drawing of Stepper Motor Drawing of Stepper Motor Drawing of Stepper Motor
(Isometric View) Mount (Front View) Mount (Side View) Mount (Top View)

Appendix 16 - Technical Drawing of Appendix 17 - Technical Drawing of Appendix 18 - Technical Drawing

NEMA 17 Stepper Motor (Isometric NEMA 17 Stepper Motor (Front of NEMA 17 Stepper Motor (Side
View) View) View)

Appendix 19 - Technical Drawing of Appendix 20 - Technical Drawing of Appendix 21 - Technical Drawing

NEMA 17 Adaptor (Isometric View) NEMA 17 Adaptor (Front View) of NEMA 17 Adaptor (Side View)

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 Appendix 22 - Technical Drawing of Appendix 23 - Technical Drawing of Chassis
Chassis Board (Isometric View) Board (Top View)

Appendix 24 - Technical Drawing of Wheel Appendix 25 - Technical Drawing of Appendix 26 - Technical Drawing
& Tyre (Isometric View) Wheel & Tyre (Front View) of Wheel & Tyre (Side View)

Appendix 29 -
Technical Drawing
of Battery (Top
Appendix 27 - Technical Drawing of View)
Battery (Isometric View) Appendix 28 - Technical Drawing of
Battery (Front View)

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 Appendix 31 - Technical Drawing of Battery
Encasing (Front View)

Appendix 30 - Technical Drawing of Battery

Encasing (Isometric View)

Appendix 32 - Technical Drawing of Battery Appendix 33 - Technical Drawing

Encasing (Side View) of Battery Encasing (Top View)

Appendix 34 -
Technical Drawing of Appendix 35 - Appendix 36 - Technical Drawing
Hex Standoff Technical Drawing of Hex Standoff (Top View)
(Isometric View) of Hex Standoff
(Front View)

Appendix 37 - Technical Drawing of DC Appendix 38 - Technical Drawing of DC to Appendix 39 - Technical Drawing of DC to

to DC Converter (Isometric View) DC Converter (Side View) DC Converter (Top View)

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Appendix 39 - Technical Appendix 40 - Technical Drawing Appendix 41 - Technical Appendix 42 - Technical
Drawing of Grub Screw of Grub Screw (Front View) Drawing of Grub Screw (Top Drawing of Grub Screw
(Isometric View) View) (Bottom View)

Appendix 43 - Appendix 44 - Technical Appendix 45 - Technical Drawing of Appendix 46 - Technical Drawing of

Technical Drawing of Drawing of Button M4 Button M4 Bolt (Top View) Button M4 Bolt (Bottom View)
Button M4 Bolt Bolt (Front View)
(Isometric View)

Appendix 47 - Technical Appendix 48 - Technical Appendix 49 - Technical Appendix 50 - Technical Drawing

Drawing of Hex M3 Bolt Drawing of Hex M3 Bolt (Front Drawing of Hex M3 Bolt (Top of Hex M3 Bolt (Bottom View)
(Isometric View) View) View)

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Appendix 51 - Technical Drawing of Robot Body with Appendix 52 - Technical Drawing of Robot Body with Built-In Screen
Built-In Screen & Antennas (Isometric View) & Antennas (Front View)

Appendix 53 - Technical Drawing of Robot Body with Built- Appendix 54 - Technical Drawing of Robot Body
In Screen & Antennas (Side View) with Built-In Screen & Antennas (Top View View)

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 Appendix 55 - Exploded View of Device with Components Labelled

Appendix 56 - CES Graph Showing Relationship Between Density and Price for Different Materials

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Appendix 57 - CES Graph Showing Relationship Between Yield Strength and Youngs' Modulus for Different Materials

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